Witness to the World: The Christian Mission in Theological Perspective, John Knox Press, 1980. Transforming Mission: Paradigm Shifts in Theology of Mission, Orbis Books, 1991. Believing in the Future: Toward a Missiology of Western Culture, Trinity Press International, 1995. (publisert av hans kone etter hans død) A Spirituality of the Road, Wipf and Stock Publishers, 2001.