During his years living in Brazil, Nilson played the bass with musicians such as João Gilberto, Hermeto Pascoal, Roberto Carlos (singer), Chico Buarque de Holanda, Nana Caymmi, João Bosco, Johnny Alf, Helio Delmiro, Luis Bonfá, MPB4, and Roberto Carlos.

Since that time he has performed and recorded with artists as Joe Henderson, Paquito D'Rivera, Slide Hampton, Herbie Mann, Mark Murphy, Oscar Castro Neves, Don Friedman, Paul Winter, and Gato Barbieri.

After moving to New York City, Nilson co-founded the project "The African Brazilian Connection" with pianist Don Pullen.

Nilson played on the album Joe Henderson Big Band, which won the Grammy Award for Best Large Jazz Ensemble Performance in 1998.

Nilson is the Artistic/Music Director of Samba Meets Jazz Workshops, with vocal and instrumental programs for adults in Bar Harbor, ME, Boston's North Shore, as well as in international locations.