Lucas is perhaps best known for producing the majority of Madonna's 1983 self-titled debut album, and for playing rhythm guitar with the Miles Davis electric band during the first half of the 1970s.
[5] It was in Davis' electric band (one that included Pete Cosey, Michael Henderson and Al Foster) that Lucas met percussionist James Mtume, who would later become his production partner.
Following his stint as a touring jazz guitarist, Lucas shifted his focus to songwriting and producing, where he gained both fame and critical praise.
The production team of Lucas and Mtume would write and produce hits for a number of artists, including Stephanie Mills, Phyllis Hyman, Lou Rawls, The Spinners and Roberta Flack.
In addition to his own instrumental record "Survival Themes" (1976), one of his first solo projects was Madonna's 1983 self-titled debut album, including the song "Borderline".