Watch | US Presidential debate highlights

After months of tangling from afar, Hillary Clinton and Donald Trump confronted each other face-to-face for the first time in the presidential debate, laying out for voters their vastly different visions for America's future. In a combative opening debate, Hillary Clinton denounced Donald Trump for keeping his tax returns secret and peddling a “racist lie” about President Barack Obama. Trump repeatedly cast Clinton as a typical politician whose time is up. The debate was confrontational from the start, with Trump frequently trying to interrupt Clinton and speaking over her answers. Clinton was more measured and restrained, but also needled the sometimes-thin-skinned Trump over his business record and wealth.