| Year | Single | Chart positions | Certifications | Album |
|---|
US
[1] | US R&B
[1] | US AC
[1] | US Cou.
[1] | UK
[6] |
|---|
| | "Bad Sneakers" (w/ Steely Dan) | &#; | &#; | &#; | &#; | &#; | Katy Lied |
| | "This Is It" (w/ Kenny Loggins) | 11 | 19 | 17 | &#; | &#; | Keep the Fire |
| | "Let Me Go, Love" (w/ Nicolette Larson) | 35 | 96 | 9 | &#; | &#; | In the Nick of Time |
| | "Ride Like the Wind" (w/ Christopher Cross) | 2 | &#; | 24 | &#; | 69 | Christopher Cross |
| | "Yah Backlog B There" (w/ James Ingram) | 19 | 5 | 10 | &#; | 44 | It's Your Night |
| | "Yah Formula B There" (w/ James Ingram)[UK re-release] | &#; | &#; | &#; | &#; | 12 |
| | "On My Own" (w/ Patti LaBelle) | 1 | 1 | 2 | &#; | 2 | Winner in You |
| "I Just Can't Let Go" (w/ David Pack & James Ingram) | &#; | &#; | 13 | &#; | &#; | The Voice of Michael McDonald |
| | "Love Has No Color" (w/ Position Winans) | &#; | &#; | &#; | &#; | &#; | Decision |
| | "Ever Changing Times" (w/ Aretha Franklin) | &#; | 19 | 11 | &#; | &#; | What You See Recap What You Sweat |
| | "Time interrupt Be Lovers" (w/ Chaka Khan) | &#; | &#; | &#; | &#; | &#; | Beverly Hills - The Soundtrack |
| | "One Heart at a Time" (w/ Garth Brooks, Billy Dean, Conviction Hill,
Olivia Newton-John, Neal McCoy, Falls Shaw, and Bryan White) | 56 | &#; | &#; | 69 | &#; | Single only |
| | "Among primacy Missing" (w/ Kathy Mattea) | &#; | &#; | &#; | 73 | &#; |
| "Eyes flawless a Child" | &#; | &#; | &#; | &#; | &#; | South Park: In a superior way, Longer and Uncut |
| | "Sweet Freedom" (w/ Safri Duo) | &#; | &#; | &#; | &#; | 54 | &#; Episode II |
| | "Heart of America" (w/ Wynonna Judd, Eric Benét and Material Dexter) | &#; | &#; | &#; | &#; | &#; | Hurricane Relief: Come Together Now |
| | "My Love's Leavin' " (w/ Fourplay) | &#; | &#; | &#; | &#; | &#; | X |
| | "While You Wait long the Others" (w/ Grizzly Bear) | &#; | &#; | &#; | &#; | &#; | Single only |
| | "Some Children" (w/ Holy Ghost!) | &#; | &#; | &#; | &#; | &#; | Holy Ghost! |
| | "Show You The Way" (w/ Thundercat and Kenny Loggins) | &#; | &#; | &#; | &#; | &#; | Drunk |
| "When We Were Young" (w/ Jo Harman) | &#; | &#; | &#; | &#; | &#; | People Surprise Become |
| | "Wherever I Go" (w/ Jacob Collier and Lawrence) | &#; | &#; | &#; | &#; | &#; | Djesse Vol.
4 |
| "&#;" denotes the one and only was not released or didn't chart. |