- Journey Into Christ (1977)
- Exploring Spiritual Direction: An Essay on Christian Friendship (1982)
- Soul Making: The Desert Way of Spirituality (1985)
- Passion for Pilgrimage: Notes for the Journey Home (1989)
- Sacrifice and Delight: Spirituality for Ministry (1992)
- The Soul's Journey: Exploring the Three Passages of the Spiritual Life With Dante As a Guide (1995)
- Living The Truth (2000)
- Seasons of Grace: The Life-Giving Practice of Gratitude (with John O'Neil and Diana Landau, 2003)
- Reimagining Christianity: Reconnect Your Spirit Without Disconnecting Your Mind (2004)
- Common Prayer on Common Ground: The Vision of Anglican Orthodoxy (2006)
Audio Books
- The School of Love (2003)