As leader

• 1985: Keys to the City (Landmark Records)
• 1986: Work (Landmark)
• 1987: Wingspan (Landmark)
• 1988: The Countdown (Landmark)
• 1990: From Day to Day (Landmark)
• 1991: Time and Again (Landmark)
• 1992: Landmarks (Landmark)
• 1992: Hand In Hand (Novus Records)
• 1993: With Our Own Eyes (Novus)
• 1995: Getting to Know You (Novus)
• 2002: The Sequel (Maxjazz)
• 2004: Live At Yoshi’s, Vol. 1 (Maxjazz)
• 2005: Live at Yoshi’s, Vol. 2 (Maxjazz)
• 2006: Live at the Kennedy Center Vol. 1 (Maxjazz)
• 2007: Live at the Kennedy Center: Vol. 2 (Maxjazz)
• 2010: Solo (Socadisc Records)

As sideman

With Art Blakey

• New York Scene (1984)
• Blue Night (1985)
• Live at Kimball’s (1985)
• Live at Sweet Basil (1985)

With Stefon Harris

• A Cloud of Red Dust (1998)

With Benny Golson

• Live (1995)

With Betty Carter

• It’s Not About the Melody (1992)

With Ron Carter

• The Golden Striker (2003)

With Kenny Garrett

• Introducing Kenny Garrett (1985)
• Garrett 5 (1989)
• African Exchange Student (1990)
• Beyond The Wall (2006)

With Antonio Hart

• For the First Time (1991)

With Freddie Hubbard and Woody Shaw

• Double Take (1985)
• The Eternal Triangle (1987)

With Joe Lovano

• Tenor Legacy (Blue Note, 1993)
• Quartets: Live at the Village Vanguard (Blue Note, 1995)

With Charles McPherson

• Come Play With Me (1995)

With Lewis Nash

• Jazz Museum – Tribute to Great Artists (2008)

With Nicholas Payton

• From This Moment (1994)

With Wallace Roney

• Verses (1987)
• Intuition (1988)
• The Standard Bearer (1989)

With Woody Shaw

• Live Volume 3 (1981)
• United (1981)
• Master of the Art (1982)
• Night Music (1982)
• Lotus Flower (1982)
• Time is Right (1983)

With Alex Sipiagin

• Mirages (2009)

With Terell Stafford

• New Beginnings (2003)

With Superblue

• Superblue (1988, Blue Note Records)^[4]

With Myron Walden

• Hypnosis (1996)

With John Stubblefield

• Confessin’ (Soul Note, 1984)
• Countin’ the Blues (Enja Records, 1987)

With Tony Williams

• Foreign Intrigue (1986)
• Civilization (1987)
• Angel Street (1988)
• Native Heart (1990)
• The Story of Neptune (1991)
• Tokyo Live (1992)
• Young At Heart (1998)

With Cassandra Wilson

• Blue Skies (JMT, 1988)

With Warren Wolf

• Incredible Jazz Vibes (2005)
• Black Wolf (2009)

With John D’Earth

• Restoration Comedy (2000)

With Pierrick Pedron

• Deep In A Dream (2007)