As leader
• Perfect Crime (Windham Hill Jazz, 1989)
• Iguana (Windham Hill Jazz, 1990) – U.S. Top Contemporary Jazz Albums #10
• Sticks & Stones (Windham Hill Jazz, 1993) – U.S. Contemporary Jazz #7
• Zulaya (Windham Hill Jazz, 1995) – U.S. Contemporary Jazz #22
• Sweet Summer Days (Windham Hill Jazz, 1997)
• Modern World (Domo Records, 1999)
• There Goes That (Rhythmus Records, 2014)
• Latin Jazz Project Vol 1 (Rhythmus Records, 2016)
• Carousel (Rhythmus Records, 2019
• Latin Jazz Project Vol 2, 2021
with Bill Summers & Summers Heat
• Cayenne (Prestige) 1977
• Feel The Heat (Prestige) 1977
• On Sunshine (Prestige) 1978
• Straight To The Bank (Prestige) 1978
• Call It What You Want (MCA) 1981
with Pete Escovedo
• Azteca / Linda Chicana (single) (TR Record) 1976
• Solo Two (Fantasy) 1977
• Happy Together (Fantasy) 1978
• The Island (Esgo) 1982
• Yesterday’s Memories, Tomorrow’s Dreams (Esgo) 1985
• Latina Familia (as composer) feat. Tito Puente & Sheila E. (Verve ) 1989
• Flying South (Concord) 1995
• E Street (Concord) 1997
• E Music (Concord Picante) 2000
• Playboy Latin Jazz Christmas feat. Sheila E. (Concord) 2001
• Live at Stern Grove (Concord) 2012
• Back To The Bay 2018
• Rhythm Of The Night 2021
with Herbie Hancock
• Feets Don’t Fail Me Now (CBS) 1979
• Direct Step (CBS Sony) 1979
• You Bet Your Love / 12″ Single (CBS) 1979
• Butterfly with Kimiko Kasai & Herbie Hancock (CBS Sony) 1979
• The Hits / The Best of Herbie Hancock (Columbia) 1999
• Tokyo Sunlight (Megadisc) 2002
• The Complete Columbia Album Collection 1972-1988 (CBS) 2013
with Sheila E
• Sex Cymbal (Warner Bros) 1991
• Writes of Passage (Concord) 2000
• Heaven (Concord) 2001
selected discography as sideman/composer
• Johnny “Hammond” Smith: Forever Taurus (Milestone) 1976
• Bobbi Humphrey: Tailor Made (Epic) 1977
• Julian Priester: Polarization (ECM) 1977 (as composer/sideman)
• Eddie Henderson: Mahal (Capitol) 1978
• Paul Jackson: Black Octopus (Toshiba-EMI) 1978
• George Duke: Master Of The Game (Epic) 1979
• Michael Paulo: Tats In The Rainbow (Trio-Kenwood) 1979
• Webster Lewis: 8 For The 80’s (Epic) 1979 (as composer)
• Mark Soskin: Rhythm Vision (Prestige) 1980
• The Waters: Watercolors (Arista) 1980
• Rodney Franklin: Endless Flight (CBS) 1981
• The Whispers: Love Is Where You Find It (Solar) 1981
• Gwen Mc Crae: On My Way (Atlantic) 1982 (as composer)
• Holly Near: Speed Of Light (Redwood) 1982
• Cornelius Bumpus: Beacon (Broadbeach) 1983
• The Whispers: Love For Love (Solar) 1983 (as co-producer/composer/sideman)
• Linda Tillery: Secrets (Redwood) 1985 (as producer/composer/sideman)
• Teresa Trull: A Step Away (Redwood) 1986 (as composer)
• Brenda Russell: Kiss Me With The Wind (A&M) 1990
• Lou Rawls: It’s Supposed To Be Fun (Blue Note) 1990
• Claudia Villela: Asa Verde (Taina) 1994
• Marc Russo: The Window (JVC) 1994
• David Garibaldi: The Funky Beat (1 & 2) (Manhattan) 1996 (as composer & sideman)
• Grover Washington, Jr.: Soulful Strut (Columbia) 1996
• The Rippingtons: Black Diamond (Windham Hill Jazz) 1997 (engineer)
• The Whispers: Love For Love (Solar) 1998 (as co-producer/composer/sideman)
• Delfonics: Forever New (Volt) 1999
• Marion Meadows: Next To You (Heads Up) 2000 (as co-producer/composer/sideman)
• Tom Grant: Tune It In (Windham Hill) 2000 (as producer/engineer/sideman)
• Zigaboo Modeliste: Zigaboo (JZM) 2000
• Freda Payne: Come See About Me (Volt) 2001
• Rad.: Live Live in Paris (7 Bridges) 2003
• Intuit: Intuit (Compost) 2004 (as co-producer/engineer/sideman)
• Intuit: Planet Birth (Compost) 2004 (as co-producer/engineer/sideman)
• Joyce Cooling: This Girl’s Got To Play (Narada Jazz) 2004 (as engineer/sideman)
• Tower Of Power: Tower Of Power Live (Quantum Leap) 2004 (as composer)
• David K Mathews: The Coltrane Connection 2005 (as engineer)
• Joyce Cooling: Revolving Door (Narada Jazz) 2006 (as engineer/sideman)
• Doc Kupka: Doc Goes Hollywood (Strokeland) 2008
• George Duke: Complete 1970’s Epic Albums (Epic) 2012
• Pacific Mambo Orchestra: Pacific Mambo (PMO) 2012
• Bob Mintzer Big Band: Get Up! 2014
• Les McCann: A Time Less Christmas 2018