1Prepare the marinade by combining orange juice, lime juice, olive oil, soy sauce, brown sugar, garlic, ancho chilies powder, cumin powder, dried oregano, salt, and pepper in a bowl. Whisk everything until incorporated.
2Cut the skirt steak into pieces.
3Place the steak pieces in a ziploc bag.
4Pour the marinade over the steak in the bag.
5Seal the bag tightly and marinate overnight in the refrigerator.
6Prepare the coals for grilling.
7Place the marinated steak on the grill over direct heat. Flip the steak to ensure even cooking.
8Remove the steak from the grill and let rest for a while.
9Cut the steak against the grain into bite-sized pieces.
10Warm the tortillas on the grill.
11Assemble the tacos by adding the grilled carne asada, cilantro, red onions, guacamole, pico de gallo, and lime to each tortilla.