diff --git a/doc/source/index.rst b/doc/source/index.rst
index b840e0f46..64522c965 100644
--- a/doc/source/index.rst
+++ b/doc/source/index.rst
@@ -292,6 +292,7 @@ Papers
    :caption: Ray Observability
 
    ray-metrics.rst
+   ray-debugging.rst
 
 .. toctree::
    :hidden:
diff --git a/doc/source/package-ref.rst b/doc/source/package-ref.rst
index cc3bec05f..dd6defcb2 100644
--- a/doc/source/package-ref.rst
+++ b/doc/source/package-ref.rst
@@ -196,6 +196,13 @@ Histogram
 .. autoclass:: ray.util.metrics.Histogram
    :members:
 
+.. _package-ref-debugging-apis:
+
+Debugger APIs
+-------------
+
+.. autofunction:: ray.util.pdb.set_trace
+
 Experimental APIs
 -----------------
 
@@ -271,3 +278,7 @@ The Ray Command Line API
 .. click:: ray.scripts.scripts:timeline
    :prog: ray timeline
    :show-nested:
+
+.. click:: ray.scripts.scripts:debug
+   :prog: ray debug
+   :show-nested:
diff --git a/doc/source/ray-debugging.rst b/doc/source/ray-debugging.rst
new file mode 100644
index 000000000..f16270f2b
--- /dev/null
+++ b/doc/source/ray-debugging.rst
@@ -0,0 +1,193 @@
+Ray Debugger
+=============
+
+Ray has a built in debugger that allows you to debug your distributed applications. It allows
+to set breakpoints in your Ray tasks and actors and when hitting the breakpoint you can
+drop into a PDB session that you can then use to:
+
+- Inspect variables in that context
+- Step within that task or actor
+- Move up or down the stack
+
+.. note::
+
+    It is currently an experimental feature and under active development. Interfaces are subject to change.
+
+Getting Started
+---------------
+
+Take the following example:
+
+.. code-block:: python
+
+    import ray
+    ray.init()
+
+    @ray.remote
+    def f(x):
+        ray.util.pdb.set_trace()
+        return x * x
+
+    futures = [f.remote(i) for i in range(2)]
+    print(ray.get(futures))
+
+Put the program into a file named ``debugging.py`` and execute it using:
+
+.. code-block:: bash
+
+    python debugging.py
+
+
+Each of the 4 executed tasks will drop into a breakpoint when the line
+``ray.util.pdb.set_trace()`` is executed. You can attach to the debugger by running
+the following command on the head node of the cluster:
+
+.. code-block:: bash
+
+    ray debug
+
+The ``ray debug`` command will print an output like this:
+
+.. code-block:: text
+
+    2020-11-04 15:35:50,011	INFO worker.py:672 -- Connecting to existing Ray cluster at address: 192.168.1.105:6379
+    Active breakpoints:
+    0: ray::f() | debugging.py:6
+
+    1: ray::f() | debugging.py:6
+
+    Enter breakpoint index or press enter to refresh:
+
+
+You can now enter ``0`` and hit Enter to jump to the first breakpoint. You will be dropped into PDB
+at the break point and can use the ``help`` to see the available actions. Run ``bt`` to see a backtrace
+of the execution:
+
+.. code-block:: text
+
+    (Pdb) bt
+      /Users/pcmoritz/ray/python/ray/workers/default_worker.py(170)<module>()
+    -> ray.worker.global_worker.main_loop()
+      /Users/pcmoritz/ray/python/ray/worker.py(385)main_loop()
+    -> self.core_worker.run_task_loop()
+    > /Users/pcmoritz/tmp/debugging.py(7)f()
+    -> return x * x
+
+You can inspect the value of ``x`` with ``print(x)``. You can see the current source code with ``ll``
+and change stack frames with ``up`` and ``down``. For now let us continue the execution with ``c``.
+
+After the execution is continued, hit ``Control + D`` to get back to the list of break points. Select
+the other break point and hit ``c`` again to continue the execution.
+
+The Ray program ``debugging.py`` now finished and should have printed ``[0, 1]``. Congratulations, you
+have finished your first Ray debugging session!
+
+Debugger Commands
+-----------------
+
+The Ray debugger supports the
+`same commands as PDB
+<https://docs.python.org/3/library/pdb.html#debugger-commands>`_.
+
+Post Mortem Debugging
+---------------------
+
+Often we do not know in advance where an error happens, so we cannot set a breakpoint. In these cases,
+we can automatically drop into the debugger when an error occurs or an exception is thrown. This is called *post-mortem debugging*.
+
+We will show how this works using a Ray serve application. Copy the following code into a file called
+``serve_debugging.py``:
+
+.. code-block:: python
+
+    import time
+
+    import ray
+    from ray import serve
+    from sklearn.datasets import load_iris
+    from sklearn.ensemble import GradientBoostingClassifier
+
+    # Train model
+    iris_dataset = load_iris()
+    model = GradientBoostingClassifier()
+    model.fit(iris_dataset["data"], iris_dataset["target"])
+
+    # Define Ray Serve model,
+    class BoostingModel:
+        def __init__(self):
+            self.model = model
+            self.label_list = iris_dataset["target_names"].tolist()
+
+        def __call__(self, flask_request):
+            payload = flask_request.json["vector"]
+            print("Worker: received flask request with data", payload)
+
+            prediction = self.model.predict([payload])[0]
+            human_name = self.label_list[prediction]
+            return {"result": human_name}
+
+    # Deploy model
+    client = serve.start()
+    client.create_backend("iris:v1", BoostingModel)
+    client.create_endpoint("iris_classifier", backend="iris:v1", route="/iris")
+
+    time.sleep(3600.0)
+
+Let's start the program with the post-mortem debugging activated (``RAY_PDB=1``):
+
+.. code-block:: bash
+
+    RAY_PDB=1 python serve_debugging.py
+
+The flag ``RAY_PDB=1`` will have the effect that if an exception happens, Ray will
+drop into the debugger instead of propagating it further. Let's see how this works!
+First query the model with an invalid request using
+
+.. code-block:: bash
+
+    python -c 'import requests; response = requests.get("http://localhost:8000/iris", json={"vector": [1.2, 1.0, 1.1, "a"]})'
+
+When the ``serve_debugging.py`` driver hits the breakpoint, it will tell you to run
+``ray debug``. After we do that, we see an output like the following:
+
+.. code-block:: text
+
+    Active breakpoints:
+    0: ray::RayServeWorker_BoostingModel.handle_request() | /Users/pcmoritz/ray/python/ray/serve/backend_worker.py:249
+    Traceback (most recent call last):
+
+      File "/Users/pcmoritz/ray/python/ray/serve/backend_worker.py", line 244, in invoke_single
+        result = await method_to_call(arg)
+
+      File "/Users/pcmoritz/ray/python/ray/async_compat.py", line 29, in wrapper
+        return func(*args, **kwargs)
+
+      File "serve_debugging.py", line 23, in __call__
+        prediction = self.model.predict([payload])[0]
+
+      File "/Users/pcmoritz/anaconda3/lib/python3.7/site-packages/sklearn/ensemble/_gb.py", line 2165, in predict
+        raw_predictions = self.decision_function(X)
+
+      File "/Users/pcmoritz/anaconda3/lib/python3.7/site-packages/sklearn/ensemble/_gb.py", line 2120, in decision_function
+        X = check_array(X, dtype=DTYPE, order="C", accept_sparse='csr')
+
+      File "/Users/pcmoritz/anaconda3/lib/python3.7/site-packages/sklearn/utils/validation.py", line 531, in check_array
+        array = np.asarray(array, order=order, dtype=dtype)
+
+      File "/Users/pcmoritz/anaconda3/lib/python3.7/site-packages/numpy/core/_asarray.py", line 83, in asarray
+        return array(a, dtype, copy=False, order=order)
+
+    ValueError: could not convert string to float: 'a'
+
+    Enter breakpoint index or press enter to refresh:
+
+We now press ``0`` and then Enter to enter the debugger. With ``ll`` we can see the context and with
+``print(a)`` we an print the array that causes the problem. As we see, it contains a string (``'a'``)
+instead of a number as the last element.
+
+In a similar manner as above, you can also debug Ray actors. Happy debugging!
+
+Debugging APIs
+--------------
+
+See :ref:`package-ref-debugging-apis`.
\ No newline at end of file
diff --git a/python/ray/scripts/scripts.py b/python/ray/scripts/scripts.py
index ab09dec8e..b91431c07 100644
--- a/python/ray/scripts/scripts.py
+++ b/python/ray/scripts/scripts.py
@@ -157,7 +157,7 @@ def dashboard(cluster_config_file, cluster_name, port, remote_port):
     type=str,
     help="Override the address to connect to.")
 def debug(address):
-    """Debug Ray program."""
+    """Show all active breakpoints and exceptions in the Ray debugger."""
     from telnetlib import Telnet
     if not address:
         address = services.find_redis_address_or_die()
diff --git a/python/ray/util/rpdb.py b/python/ray/util/rpdb.py
index 21d2ec07d..3ffd3626f 100644
--- a/python/ray/util/rpdb.py
+++ b/python/ray/util/rpdb.py
@@ -170,12 +170,16 @@ def connect_ray_pdb(host=None, port=None, patch_stdstreams=False, quiet=None):
     return rdb
 
 
-def set_trace(host=None, port=None, patch_stdstreams=False, quiet=None):
+def set_trace():
+    """Interrupt the flow of the program and drop into the Ray debugger.
+
+    Can be used within a Ray task or actor.
+    """
     frame = sys._getframe().f_back
-    rdb = connect_ray_pdb(host, port, patch_stdstreams, quiet)
+    rdb = connect_ray_pdb(None, None, False, None)
     rdb.set_trace(frame=frame)
 
 
-def post_mortem(host=None, port=None, patch_stdstreams=False, quiet=None):
-    rdb = connect_ray_pdb(host, port, patch_stdstreams, quiet)
+def post_mortem():
+    rdb = connect_ray_pdb(None, None, False, None)
     rdb.post_mortem()