- Be Here Now (1971)
- The Only Dance There Is (1974)
- How Can I Help? Stories and Reflections on Service (with Paul Gorman) (1985)
- Journey of Awakening: A Meditator's Guidebook (1990)
- Compassion in Action: Setting Out On the Path of Service (with Mirabai Bush) (1995)
- Grist for the Mill (with Stephen Levine) (1995)
- Still Here: Embracing Aging, Changing, and Dying (2001)
- One-Liners: A Mini-Manual for a Spiritual Life (2002)
- Paths to God: Living the Bhagavad Gita (2004)
- Be Love Now: The Path of the Heart (2010)
- Polishing the Mirror: How to Live from Your Spiritual Heart (2013)
- Walking Each Other Home: Conversations on Loving and Dying (with Mirabai Bush) (2018)
Audio Books
- Conscious Aging: On the Nature of Change and Facing Death (1992)
- Sacred Odyssey: Seeking Freedom (1998)