- Holy Listening: The Art of Spiritual Direction (1992)
- Toward Holy Ground: Spiritual Directions for the Second Half of Life (1995)
- The Practice of Prayer (1998)
- My Soul in Silence Waits: Meditations on Psalm 62 (2000)
- At Home in the World: A Rule of Life for the Rest of Us (2006)
- Just Passing Through: Notes from a Sojourner (2007)
- Walking Home: From Eden to Emmaus (2011)