| | "Year","Single","Peak chart positions |
| | US","Peak chart positions |
| | US |
| | R&B","Peak chart positions |
| | US |
| | A/C","Peak chart positions |
| | UK" |
| | "1978","\"I'm Coming Home Again\"","—","54","—","—" |
| | "1979","\"Am I Too Late\"","—","45","—","—" |
| | "1981","\"When a Child Is Born\" (with Johnny Mathis)","—","—","—","74" |
| | "1985","\"That's What Friends Are For\" (with Dionne Warwick, Elton John & Stevie Wonder)","1","1","1","16" |
| | "1986","\"Loving on Borrowed Time (Love Theme from Cobra)\" (with Bill Medley)","—","—","16","—" |
| | "1989","\"Licence to Kill\"","—","69","18","6" |
| | "1990","\"If I Knew Then What I Know Now\" (with Kenny Rogers)","—","—","10","—" |
| | "1991","\"Men\"","—","2","—","—" |
| | "1991","\"Superwoman\" (with Dionne Warwick & Patti LaBelle)","—","19","—","—" |
| | "1991","\"Meet Me in the Middle\"","—","78","—","—" |
| | "1992","\"Where Would I Be\"","—","66","—","—" |
| | "1994","\"I Don't Want to Know\"","113","32","—","—" |
| | "1994","\"End of the Road Medley\"","—","76","—","—" |
| | "1995","\"Next Time\"","—","30","—","—" |
| | "1996","\"Missing You\" (with Brandy, Tamia & Chaka Khan)","25","10","30","—" |
| | "2010","\"Settle\"","—","—","—","—" |
| | "2011","\"I (Who Have Nothing)\"","—","—","—","—" |
| |
|
