Internal soil piping accelerates soil erosion and degrades land surfaces, but understanding its processes and impact is constrained by limited direct observations. This study introduces a novel approach to tracking and mapping the connectivity of soil pipes utilizing acoustic excitations, where sound waves propagate through air-filled soil pipes and couple into the surrounding soil as seismic waves and are detected at the surface. We conducted measurements in an experimental site having extensive soil pipe networks supported by six gully windows. A speaker was placed at various gully windows successively, and the ground vibrations were recorded with geophones along two survey lines. The time-domain vibration data were converted to the frequency domain, and the energy content was estimated using the Riemann sum approximation method. Signal-to-noise (SN) ratios were then calculated for each geophone and source location. Geophones with SN > 6 dB and Z-scores > 2 indicated proximity to large and/or shallow (principle) soil pipes, while those with SN > 6 and 1 < Z < 2 suggested nearby smaller or deeper (secondary) soil pipes. This study reveals four primary and six secondary soil pipes in line 1, and five primary and eight secondary pipes along line 2. Overall, four primary and seven secondary soil pipe networks were delineated over one previously postulated network. Detected pipe networks strongly correlated with low penetration resistance (PR) values from conepenetrologger (CPL) data, particularly for the primary pipe networks, confirming the applicability of acoustic techniques.