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This is a C# Dorian Sounding Jazz Fusion Lick played on C# minor chord from Mike Stern's Chromazone (Live).
My method to understand the theory behind this guitar lick:
1. Using the relative major scale
I always think that it's easier to play the relative major scale while playing Dorian and Aeolian. In this case, I used B major scale instead of C# Dorian.
2. B Mixolydian (add b9th) or Db Harmonic Minor are also used in this lick.
Here you can see the relationship between these 4 scales:
B Ionian: B C# D# E F# G# A# B
B Mixolydian: B C# D# E F# G# A B
C# Dorian: C# D# E F# G# A# B C#
C#/Db Harmonic Minor: C# D# E F# G# A B# C#
3. Using passing tone
Always resolve the nonchord tone to the chord tone.
Backing Tracks are included in the end of the video with different speeds.