- The Book of Awakening: Having the Life You Want by Being Present to the Life You Have (2000)
- Deepening the American Dream: Reflections of the Inner Life and Spirit of Democracy (2005)
- The Exquisite Risk: Daring to Live an Authentic Life (2006)
- Unlearning Back to God: Essays on Inwardness, 1985-2005 (2006)
- Surviving Has Made Me Crazy (2007)
- Finding Inner Courage (2011)
- As Far as the Heart Can See: Stories to Illuminate the Soul (2011)
- Seven Thousand Ways to Listen: Staying Close to What Is Sacred (2012)
- Reduced to Joy (2013)
- The Endless Practice: Becoming Who You Were Born to Be (2014)
- Inside the Miracle: Enduring Suffering, Approaching Wholeness (2015)
- The One Life We're Given: Finding the Wisdom That Waits in Your Heart (2016)
- The Way Under the Way: The Place of True Meaning (2016)
- Things That Join the Sea and the Sky: Field Notes on Living (2017)
- More Together Than Alone: Discovering the Power and Spirit of Community in Our Lives and in the World (2018)
- The Book of Soul: 52 Paths to Living What Matters (2020)
- Surviving Storms: Finding the Strength to Meet Adversity (2022)