Moderated by World News Tonight anchor David Muir and ABC News Live anchor Linsey Davis, the debate saw both candidates outline their visions for the country. The event featured no live audience and strictly enforced rules on time limits, with microphones muted when either candidate was not speaking.

The debate, hosted by ABC News in Philadelphia, was the first — and possibly only — meeting between Vice President Kamala Harris and former President Donald Trump.

Trump told NBC News that the biggest challenge in debating Kamala Harris Tuesday night will be the fact that over the years, she's shifted her positions on so many issues.