As leader

• Mantilla (Inner City, 1978)
• Hands of Fire (Red, 1984)
• Synergy (Red, 1986)
• Dark Powers (Red, 1988)
• The Next Step (Red, 2000)
• Man-Ti-Ya (Savant, 2004)
• Good Vibrations (Savant, 2006)
• The Connection (Savant, 2013)
• High Voltage (Savant, 2017)
• Rebirth (Savant, 2021)

As sideman

With Mose Allison

• 1994 The Earth Wants You
• 1997 Jazz Profile

With Gato Barbieri

• Chapter Three: Viva Emiliano Zapata (Impulse!, 1974)
• Yesterdays (Flying Dutchman, 1974)

With Ray Barretto

• 1961 Barretto Para Bailar
• 1963 Latino! & Afro-Jaws
• 1973 Carnaval: Latino!/Pachanga with Barretto

With Joe Beck

• Beck & Sandborn (Columbia, 1975)
• Beck (Kudu, 1975)

With Walter Bishop Jr.

• Cubicle (Muse, 1978)

With Art Blakey

• Child's Dance (Prestige, 1972)
• In My Prime Vol. 1 (Timeless, 1977)
• In My Prime Vol. 2 (Timeless, 1977)

With Teresa Brewer

• 1982 Midnight Cafe (A Few More for the Road)
• 1984 Live at Carnegie Hall & Montreaux, Switzerland
• 1983 I Dig Big Band Singers

With Kenny Burrell

• 1991 Sunup to Sundown
• 1998 Kenny Burrell and the Jazz Giants

With Joe Chambers

• The Almoravid (Muse, 1973)
• New World (Finite, 1976)

With Richie Cole

• New York Afternoon (Muse, 1977)
• 1977 Alto Madness
• 1986 Pure Imagination
• 1996 West Side Story
• 1998 Richie & Phil & Richie
• 2006 Rises's Rose Garden

With Larry Coryell

• 1975 Basics (1968–1969)
• 1979 Return
• 2002 Birdfingers

With Joe Farrell

• Canned Funk (CTI, 1975)

With John Hicks

• Sweet Love of Mine (HighNote, 2006)

With Morgana King

• 1998 Looking Through the Eyes of Love
• 2000 Tender Moments

With Herbie Mann

• Flute, Brass, Vibes and Percussion (Verve, 1959)
• The Common Ground (Atlantic, 1961)
• The Family of Mann (Atlantic, 1961)
• Herbie Mann at the Village Gate (Atlantic, 1962)
• Herbie Mann Returns to the Village Gate (Atlantic, 1963)
• Our Mann Flute (Atlantic, 1966)
• Discothèque (Atlantic, 1975)
• Waterbed (Atlantic, 1975)

With M'Boom

• Collage (Soul Note, 1984)
• To the Max! (Enja, 1990–91)
• Live at S.O.B.'s New York (1992)

With Jack McDuff

• Magnetic Feel (Cadet, 1975)

With Jimmy McGriff

• The Groover (JAM, 1982)

With Bob McHugh

• 1994 Manhattan Sunrise
• 2003 Another Sunrise

With Charles Mingus

• 1978 Cumbia & Jazz Fusion
• 1979 Me, Myself an Eye
• 1981 Something Like a Bird

With Diedre Murray and Fred Hopkins

• Stringology (Black Saint, 1994)

With Mark Murphy

• Satisfaction Guaranteed (Muse, 1980)

With James Spaulding

• Gotstabe a Better Way! (Muse, 1988 [1990])

With Jeremy Steig

• Monium (Columbia, 1974)
• Temple of Birth (Columbia, 1975)
• Firefly (CTI, 1977)

With The Players Association

• 1980 We Got the Groove
• 1998 The Players Association/Turn the Music Up!

With Mickey Tucker

• Mister Mysterious (Muse, 1978)

With Cedar Walton

• Mobius (RCA, 1975)
• The Pentagon (East Wind, 1976)
• Soundscapes (Columbia, 1980)
• Roots (1997)
• Latin Tinge (HighNote, 2002)
• The Bouncer (HighNote, 2011)