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Taulbert was born in Glen Allan, Mississippi, a small town in the Mississippi Delta, in 1945. His mother was just out of high school and could not afford to take care of him alone, so he was raised by his extended family. He graduated from O'Bannon High School in Greenville, Mississippi, in 1963 and went on to earn a bachelor's degree from Oral Roberts University and a graduate degree from Southern Methodist University. He also spent a few years in the United States Air Force, where he attained the rank of sergeant.

He lives in Tulsa, Oklahoma, and is a professor at Oral Roberts University.

• Nonfiction
• Once Upon a Time When We Were Colored (1989)
• The Last Train North (1992)
• Watching Our Crops Come In (1997)
• Eight Habits of the Heart: Embracing the Values that Build Strong Communities (1997)
• The Journey Home: A Father’s Gift to His Son (2002)

• Children's Books
• Little Cliff and the Porch People (1999)
• Little Cliff and the First Day of School (2001)
• Little Cliff and the Cold Place (2002)