As with most answers, it really depends: What are you trying to achieve with your debugging? Basic development, fixing performance issues? For basic development, all the previous answers are more than adequate.
If you're developing in .NET and using Visual Studio using the web development environment you can debug JavaScript code directly by placing breakpoints, etc. Your JavaScript code looks exactly the same as if you were debugging your C# or VB.NET code.
If you don't have this, Internet Explorer also provides all of the tools shown above. Annoyingly, instead of having the 右键单击检查元素 features of Chrome or Firefox, you access the developer tools by pressing F12. 这个问题 covers most of the points.