- Gratefulness, The Heart of Prayer (1990)
- A Listening Heart: The Spirituality of Sacred Sensuousness (1999)
- The Ground We Share: Buddhist and Christian Practice (co-authored with Robert Aitken) (2000)
- The Music of Silence: A Sacred Journey Through the Hours of the Day (with Sharon Lebell) (2002)
- Words of Common Sense for Mind, Body and Soul (2002)
- Common Sense Spirituality: The Essential Wisdom of David Steindl-Rast (2008)
- Deeper Than Words: Living the Apostles' Creed (2010)
- David Steindl-Rast: Essential Writings (2010)
- 99 Blessings: An Invitation to Life (2013)
- The Way of Silence: Engaging the Sacred in Daily Life (2016)
- 99 Names of God (2021)