Cummings, who has been marching with protesters in Baltimore since Monday, called for an "inclusion revolution," to address issues such as joblessness and investing in children and cities in order to prevent future incidents nationwide.
He also called for a careful examination of Baltimore's police department.
"We need to have an up-and-down look at it and be honest and address it in an effective way," Cummings said.
Cummings said he thought the city had done "pretty good" in the response to Gray's death.
"It was a very unfortunate incident with Freddie Gray, a young man who died a very tragic death," Cummings said. "But as far as Baltimore's concerned, I thought initially we had a lot of problems on Monday but I think overall it's been a lot of peaceful protest, and that's a good thing."