- Dear Heart, Come Home (1996)
- The Cup of Our Life: A Guide for Spiritual Growth (1997, 2012)
- May I Walk You Home? Courage and Comfort for Caregivers of the Very Ill (1999)
- Your Sorrow Is My Sorrow: Hope and Strength in Times of Suffering (1999)
- The Star in My Heart: Experiencing Sophia, Inner Wisdom (1999)
- Out of the Ordinary: Prayers, Poems, and Reflections for Every Season (2000)
- Prayers to Sophia (2000)
- Rest Your Dreams on a Little Twig (2003)
- The Circle of Life: The Heart's Journey Through the Seasons (2005)
- Walk in a Relaxed Manner: Life Lessons from the Camino (2005)
- Fresh Bread and Other Stories of Spiritual Nourishment (2006)
- May I Have This Dance? An Invitation to Faithful Prayer Throughout the Year (2007 - rev. ed.)
- Prayer (2007)
- Open Door: A Journey to the True Self (2008)
- Praying Our Goodbyes: A Spiritual Companion Through Life's Losses and Sorrows (2009)
- Now That You've Gone Home: Courage and Comfort for Times of Grief (2009) (with Joyce Hutchinson)
- The Cosmic Dance: An Invitation to Experience Our Oneness (2010)
- Fragments of Your Ancient Name: 365 Glimpses of the Divine for Daily Meditation (2011)
- My Soul Feels Lean: Poems of Loss and Restoration (2013)
- Fly While You Still Have Wings: And Other Lessons My Resilient Mother Taught Me (2015)
- Little Pieces of Light: Darkness and Personal Growth (2016)
- Prayer Seeds: A Gathering of Blessings, Reflections, and Poems for Spiritual Growth (2017)
- Joyce Rupp: Essential Writings (2017 - edited by Michael Leach)
- Boundless Compassion: Creating a Way of Life (2018)
- Prayers of Boundless Compassion (2018)
- Return to the Root: Reflections on the Inner Life (2021)
- Jesus, Companion in My Suffering: Reflections for the Lenten Journey (2023)