Narrative:

We were cleared the peekk 3 RNAV arrival then cleared the RNAV (rnp) Z runway 16R. The first officer loaded the RNAV as I dealt with the flight attendant seating for turbulence. He then briefed the approach via the FMC as I verified each fix and altitude via the efb. We were then told to maintain 280 and disregard approach speeds; cross clfff at 210 knots. We speed intervened to 280. At clfff the aircraft maintained a 353 heading and failed to right arc at cepee. Obviously we did not catch the discontinuity between the peekk 3 arrival - clfff and the clfff associated with the RNAV (rnp) Z 16R. Approach immediately queried our path. I asked the first officer to begin a right descending turn as I pressed heading select and spun to 090. He de-selected autopilot and began hand flying. I informed ATC we were making the turn while I programed aagee from the RNAV (rnp) Z 16R; to FMC L1 position. That is when approach ATC said 'fly heading 100; you are cleared for the visual 16R. Maintain visual separation with the traffic landing 16L.' we got a brief TA; as we and the 16L traffic were on a direct closure heading; briefly. We had visual separation with the 16L traffic at all times. We configured and landed uneventfully and had no other traffic TA. I made a rookie mistake. I did not get into the FMC myself to verify there were no discontinuity. It's that simple. One FMC verification is worth a thousand. I should have.

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Original NASA ASRS Text

Title: B737-800 flight crew reported a track deviation on the RNAV (RNP) Z approach to 16R in DEN.

Narrative: We were cleared the PEEKK 3 RNAV Arrival then cleared the RNAV (RNP) Z Runway 16R. The First Officer loaded the RNAV as I dealt with the Flight Attendant seating for turbulence. He then briefed the approach via the FMC as I verified each fix and altitude via the EFB. We were then told to maintain 280 and disregard approach speeds; cross CLFFF at 210 knots. We Speed Intervened to 280. At CLFFF the aircraft maintained a 353 heading and failed to right arc at CEPEE. Obviously we did not catch the discontinuity between the PEEKK 3 Arrival - CLFFF and the CLFFF associated with the RNAV (RNP) Z 16R. Approach immediately queried our path. I asked the First Officer to begin a right descending turn as I pressed Heading Select and spun to 090. He de-selected autopilot and began hand flying. I informed ATC we were making the turn while I programed AAGEE from the RNAV (RNP) Z 16R; to FMC L1 position. That is when approach ATC said 'Fly heading 100; you are cleared for the visual 16R. Maintain visual separation with the traffic landing 16L.' We got a brief TA; as we and the 16L traffic were on a direct closure heading; briefly. We had visual separation with the 16L traffic at all times. We configured and landed uneventfully and had no other traffic TA. I made a rookie mistake. I did not get into the FMC myself to verify there were no discontinuity. It's that simple. One FMC verification is worth a thousand. I should have.

Data retrieved from NASA's ASRS site and automatically converted to unabbreviated mixed upper/lowercase text. This report is for informational purposes with no guarantee of accuracy. See NASA's ASRS site for official report.