“Milestones” is a tune written by Miles Davis. It appears on his 1958 record “Milestones”. This tune is NOT to be confused with the tune “Milestones” written by John Lewis prior to this one.
It was originally entitled “Miles” but was later changed to “Milestones”.
This is a modal tune based off of Gm7 and Am7 and is a lot of fun to play! The chord charts below show the implied chords that compliment the melody, though it is really just Gm7 during the A section and Am7 for the B.

30 Days to Better Jazz Playing

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Videos to learn the melody/changes