He came to prominence in 1978 playing bass guitar and guitar with tenor saxophonist Sonny Rollins, with whom he would perform and record intermittently until the mid-1990s. Harris went on to work with drummers Jack DeJohnette, Paul Motian, Bob Moses and Bobby Previte, clarinetist David Krakauer, trombonist Ray Anderson, pianist/organist/vocalist Amina Claudine Myers, and saxophonist/clarinetists Don Byron and Marty Ehrlich, among others.
Harris has recorded four albums as a bandleader. Hidden in Plain View (1995), a tribute to saxophonist Eric Dolphy, is described by critic Michael G. Nastos as "the finest [recording] of Harris' small discography."
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- 1986: In Passing (Muse)
- 1986: Algorithms (Polygram)
- 1995: Hidden in Plain View (New World)
- 1999: Rendezvous (Stereophile)
With Robert Dick
- 1994: Third Stone from the Sun (New World Records)
With David Krakauer
With Bobby Previte
- 1990: Empty Suits (Gramavision)
- 1991: Music of the Moscow Circus (Gramavision)
- 1994: Slay the Suitors (Avant)
- 1997: My Man In Sidney (Enja)
- 1998: Dangerous Rip (Enja)