At the age of 17, he won the United States Gymnastics Federation (USGF)'s Trampoline Championship and competed in gymnastics at John Marshall High School in Los Angeles. While a freshman at U.C. Berkeley, he won the 1964 Trampoline World Championships in London. The same year he won three All-American titles, including national titles in FX and V. Later in 1968, he recovered from a motorcycle injury, and co-captained the 1968 NCAA University of California gymnastics team; also in 1968 he was appointed as Director of gymnastics at Stanford University, where he coached U.S. Olympian Steve Hug and brought the Stanford team to national prominence. In 1972 he became an assistant professor of physical education at Oberlin College at Oberlin, Ohio.

His early background includes training in modern dance, gymnastics, and martial arts. He earned a black belt in aikido. Later he studied various yogas and other martial arts, and traveled around the world researching integrative disciplines, which resulted in his calling since 1980 ... writing about and teaching an approach to living he calls the "way of the peaceful warrior" in his career as a motivational speaker. Due to the varied topics of his books, his work is difficult to label, but is generally connected to the human potential movement .

Dan Millman and his wife Joy live in Northern California. They have three grown daughters and two grandsons.

Peaceful Warrior Series

• Way of the Peaceful Warrior: A Book That Changes Lives
• Wisdom of the Peaceful Warrior: A Companion to the Book That Changes Lives
• Sacred Journey of the Peaceful Warrior
• The Journeys of Socrates: The Way Begins

Other Works

• The Life You Were Born to Live: A Guide to Finding Your Life Purpose
• Everyday Enlightenment: The Twelve Gateways to Personal Growth
• No Ordinary Moments: A Peaceful Warrior's Guide to Daily Life
• Living on Purpose: Straight Answers to Life's Tough Questions
• The Laws of Spirit: A Tale of Transformation
• Body Mind Mastery: Creating Success in Sport and Life
• The Inner Athlete: Realizing Your Fullest Potential

Children's Books

• Secret of the Peaceful Warrior
• Quest for the Crystal Castle

Collaborative Works with Doug Childers

• Bridge Between Worlds: Extraordinary Experiences that Changed Lives