Books in order of publication:
| Balance of Body, Balance of Mind: A Rolfer’s Vision of Buddhist Practice in the West | 1993 |
| The Posture of Meditation: A Practical Manual for Meditators of All Traditions | 1996 |
| Aligned, Relaxed, Resilient: The Physical Foundations of Mindfulness | 2000 |
| The Sailfish and the Sacred Mountain: Passages in the Lives of a Father and Son | 2004 |
| Yoga of the Mahamudra: The Mystical Way of Balance | 2005 |
| The Spiritual Practices of Rumi: Radical Techniques for Beholding the Divine | 2007 |
| Awakening the Body | 2010 |
| Rumi’s Four Essential Practices: Ecstatic Body, Awakened Soul | 2010 |
| Breathing Through the Whole Body: The Buddha’s Instructions on Integrating Mind, Body, and Breath | 2012 |
| Breathing through the Whole Body: The Buddha’s Instructions on Integrating Mind, Body, and Breath | 2012 |
| Darkness Reflected | 2015 |
| Eyes Wide Open: Buddhist Instructions on Merging Body and Vision | 2016 |
| Cannabis in Spiritual Practice: The Ecstasy of Shiva, the Calm of Buddha | 2018 |
| Breathing as Spiritual Practice: Experiencing the Presence of God | 2019 |
| Breathing in Spiritual Practice: Healing Techniques from the Western Mystical Tradition | 2019 |