Jazz composer and bassist who worked with some of the genre's all-time greats, including Miles Davis. He was also a first-call session musician, collaborating on more than 500 albums with superstars such as Michael Jackson.
He won a Grammy Award for Best Contemporary Jazz Album for "M2" in 2001.
He was born into a musical family. His father William Miller was a church organist and choir director. He was related to jazz pianist Wynton Kelly. He fathered four children with wife Brenda Miller.
He shared a Grammy Award for Best R&B Song with Luther Vandross for producing the song "Power of Love" in 1992.