Both refer to an event in the past. The difference is the present perfect tells us that the state cause by the past event still prevails. " A stone broke the windscreen ": all we know here is the windscreen broke.
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When someone comes back home late, should I ask "Where were you?" or "Where have you been?"The two are virtually indistinguishable in this situation, and the decision is completely arbitrary. Make a mental note to use "Where have you been?" if you'd like to decide between one and the other. There's no reason for the choice, but when the situation happens it may be