- Taking Our Places: The Buddhist Path to Truly Growing Up (2004)
- Sailing Home: Using the Wisdom of Homer's Odyssey to Navigate Life's Perils and Pitfalls (2008)
- Solid Ground: Buddhist Wisdom for Difficult Times (2011) (with Sylvia Boorstein & Tsoknyi Rinpoche)
- Training in Compassion: Zen Teachers on the Practice of Lojong (2013)
- Mountains and Rivers Sutra: A Weekly Practice Guide (2020)
- When you Greet Me I Bow: Notes and Reflections from a Life in Zen (2021)