As leader •
Ritualism (Kashka Music, 2000) •
Unified Presence (RKM Music, 2006) •
Numerology: Live at Jazz Standard (Evolutionary Music, 2012) •
Energies of Change (Evolutionary Music, 2015) •
Transitions (Criss Cross, 2017) •
From Here to Here (Criss Cross, 2020)
As sideman With Don Byron •
No-vibe Zone (Knitting Factory, 1996) •
Bug Music (Nonesuch, 1996) •
Nu Blaxploitation (Capitol, 1998) •
You Are #6 (Blue Note, 2001) •
Do the Boomerang (Blue Note, 2006)
With Steve Coleman •
Sine Die (Pangaea, 1988) •
Cipher Syntax (
JMT, 1989) •
Rhythm People (The Resurrection of Creative Black Civilization) (RCA Novus, 1990) •
Black Science (RCA/Novus, 1991) •
Drop Kick (RCA/Novus, 1992) •
The Tao of Mad Phat (RCA/Novus, 1993) •
Genesis & the Opening of the Way (BMG/RCA Victor, 1997) •
The Ascension to Light (BMG, 2001)
With others •
Muhal Richard Abrams,
Think All, Focus One (Black Saint, 1995) •
Aka Moon,
Guitars (W.E.R.F., 2002) • Aka Moon,
Invisible Moon (Carbon 7, 2001) •
Ralph Alessi,
This Against That (RKM Music, 2002) •
Ron Blake,
Lest We Forget (Mack Avenue, 2003) • Ron Blake,
Sonic Tonic (Mack Avenue, 2005) •
Uri Caine,
Love Fugue: Robert Schumann (Winter & Winter, 2000) • Uri Caine,
Gustav Mahler: Dark Flame (Winter & Winter, 2003) •
Ann Hampton Callaway,
Blues in the Night (Telarc, 2006) •
Vincent Chancey,
Welcome Mr. Chancey (In+Out 1993) •
Theo Croker,
Afro Physicist (DDB, Okeh 2014) •
Wayne Escoffery,
The Humble Warrior (Smoke Sessions 2020) •
Trilok Gurtu,
Believe (CMP, 1994) • Trilok Gurtu,
Bad Habits Die Hard (CMP, 1996) •
Graham Haynes,
What Time It Be! (Muse, 1991) •
Mike Holober,
Thought Trains (Sons of Sound, 2004) •
Cary Hudson,
The Phoenix (Glitterhouse, 2002) •
Brad Jones,
Uncivilized Poise (Knitting Factory, 1999) •
Boris Kozlov,
Conversations at the Well (Criss Cross, 2016) •
Carolyn Leonhart,
Steal the Moon (Sunnyside, 2000) •
M-Base,
Anatomy of a Groove (DIW, 1992) •
Rudresh Mahanthappa,
Samdhi (ACT, 2011) •
Christian McBride,
Sci-Fi (Verve, 2000) • Christian McBride,
Vertical Vision (Warner Bros., 2002) •
Monday Michiru,
Episodes in Color (SAR, 2002) •
Roy Nathanson, ''Fire at Keaton's Bar & Grill'' (Six Degrees, 2000) •
Meshell Ndegeocello,
The World Has Made Me the Man of My Dreams (Bismillah, 2007) •
Lonnie Plaxico,
Iridescence (Muse, 1991) • Lonnie Plaxico,
Short Takes (Muse, 1992) •
Renee Rosnes,
Life on Earth (Blue Note, 2001) •
Adam Rudolph,
Turning Towards the Light (Cuneiform, 2015) •
Wayne Shorter,
High Life (Verve, 1995) •
Omar Sosa,
Across the Divide (Half Note, 2009) •
Jeff "Tain" Watts,
Detained at the Blue Note (Half Note, 2004) •
Beau Williams,
Bodacious! (Funkytowngrooves, 2011) •
Steve Williamson,
A Waltz for Grace (Verve, 1990) • Steve Williamson,
Rhyme Time (Verve, 1991) •
Cassandra Wilson,
Jumpworld (JMT, 1990) •
Cristina Zavalloni,
The Soul Factor (Via Veneto, 2014) • Black Lives,
Generation To Generation (Jammin' Colors, 2022) • Black Lives,
People Of Earth (Jammin' Colors, 2024) ==References==