diff --git a/tooling/nargo/src/errors.rs b/tooling/nargo/src/errors.rs
index 466909db24d..d7e2641acea 100644
--- a/tooling/nargo/src/errors.rs
+++ b/tooling/nargo/src/errors.rs
@@ -45,6 +45,7 @@ impl NargoError {
                 OpcodeResolutionError::BrilligFunctionFailed { message, .. } => Some(message),
                 OpcodeResolutionError::BlackBoxFunctionFailed(_, reason) => Some(reason),
             },
+            ExecutionError::Halted => None,
         }
     }
 }
@@ -56,4 +57,7 @@ pub enum ExecutionError {
 
     #[error(transparent)]
     SolvingError(#[from] OpcodeResolutionError),
+
+    #[error("Execution halted")]
+    Halted,
 }
diff --git a/tooling/nargo/src/ops/debug.rs b/tooling/nargo/src/ops/debug.rs
new file mode 100644
index 00000000000..e289b55430e
--- /dev/null
+++ b/tooling/nargo/src/ops/debug.rs
@@ -0,0 +1,157 @@
+use acvm::pwg::{ACVMStatus, ErrorLocation, OpcodeResolutionError, ACVM};
+use acvm::BlackBoxFunctionSolver;
+use acvm::{acir::circuit::Circuit, acir::native_types::WitnessMap};
+use acvm::acir::circuit::OpcodeLocation;
+
+use crate::artifacts::debug::DebugArtifact;
+use crate::errors::ExecutionError;
+use crate::NargoError;
+
+use super::foreign_calls::ForeignCall;
+
+use std::io::{self, Write};
+
+enum SolveResult {
+    Done,
+    Ok,
+}
+
+enum Command {
+    Step,
+    Continue,
+    Stop,
+}
+
+pub fn debug_circuit<B: BlackBoxFunctionSolver>(
+    blackbox_solver: &B,
+    circuit: Circuit,
+    debug_artifact: DebugArtifact,
+    initial_witness: WitnessMap,
+    show_output: bool,
+) -> Result<WitnessMap, NargoError> {
+    let mut acvm = ACVM::new(blackbox_solver, circuit.opcodes, initial_witness);
+
+    'outer: loop {
+        show_current_vm_status(&acvm, &debug_artifact);
+        let command = match read_command() {
+            Ok(cmd) => cmd,
+            Err(err) => {
+                eprintln!("Error reading command: {}", err);
+                return Err(NargoError::ExecutionError(ExecutionError::Halted))
+            }
+        };
+        match command {
+            Command::Stop => return Err(NargoError::ExecutionError(ExecutionError::Halted)),
+            Command::Step => {
+                match step_opcode(&mut acvm, &circuit.assert_messages, show_output)? {
+                    SolveResult::Done => break,
+                    SolveResult::Ok => {},
+                }
+            }
+            Command::Continue => {
+                println!("(Continuing execution...)");
+                loop {
+                    match step_opcode(&mut acvm, &circuit.assert_messages, show_output)? {
+                        SolveResult::Done => break 'outer,
+                        SolveResult::Ok => {},
+                    }
+                }
+            },
+        }
+    }
+
+    let solved_witness = acvm.finalize();
+    Ok(solved_witness)
+}
+
+fn step_opcode<B: BlackBoxFunctionSolver>(
+    acvm: &mut ACVM<B>,
+    assert_messages: &Vec<(OpcodeLocation, String)>,
+    show_output: bool,
+) -> Result<SolveResult, NargoError> {
+    // Assert messages are not a map due to https://github.com/noir-lang/acvm/issues/522
+    let get_assert_message = |opcode_location| {
+        assert_messages
+            .iter()
+            .find(|(loc, _)| loc == opcode_location)
+            .map(|(_, message)| message.clone())
+    };
+
+    let solver_status = acvm.solve_opcode();
+
+    match solver_status {
+        ACVMStatus::Solved => Ok(SolveResult::Done),
+        ACVMStatus::InProgress => Ok(SolveResult::Ok),
+        ACVMStatus::Failure(error) => {
+            let call_stack = match &error {
+                OpcodeResolutionError::UnsatisfiedConstrain {
+                    opcode_location: ErrorLocation::Resolved(opcode_location),
+                } => Some(vec![*opcode_location]),
+                OpcodeResolutionError::BrilligFunctionFailed { call_stack, .. } => {
+                    Some(call_stack.clone())
+                }
+                _ => None,
+            };
+
+            Err(NargoError::ExecutionError(match call_stack {
+                Some(call_stack) => {
+                    if let Some(assert_message) = get_assert_message(
+                        call_stack.last().expect("Call stacks should not be empty"),
+                    ) {
+                        ExecutionError::AssertionFailed(assert_message, call_stack)
+                    } else {
+                        ExecutionError::SolvingError(error)
+                    }
+                }
+                None => ExecutionError::SolvingError(error),
+            }))
+        }
+        ACVMStatus::RequiresForeignCall(foreign_call) => {
+            let foreign_call_result = ForeignCall::execute(&foreign_call, show_output)?;
+            acvm.resolve_pending_foreign_call(foreign_call_result);
+            Ok(SolveResult::Ok)
+        }
+    }
+}
+
+fn show_source_code_location(location: &OpcodeLocation, debug_artifact: &DebugArtifact) {
+    let locations = debug_artifact.debug_symbols[0].opcode_location(&location);
+    match locations {
+        Some(locations) => {
+            for loc in locations {
+                let file = &debug_artifact.file_map[&loc.file];
+                let source = &file.source.as_str();
+                let start = loc.span.start() as usize;
+                let end = loc.span.end() as usize;
+                println!("At {}:{start}-{end}", file.path.as_path().display());
+                println!("\n{}\n", &source[start..end]);
+            }
+        },
+        None => {}
+    }
+}
+
+fn show_current_vm_status<B: BlackBoxFunctionSolver> (acvm: &ACVM<B>, debug_artifact: &DebugArtifact) {
+    let ip = acvm.instruction_pointer();
+    println!("Stopped at opcode {}: {}", ip, acvm.opcodes()[ip]);
+    show_source_code_location(&OpcodeLocation::Acir(ip), &debug_artifact);
+}
+
+fn read_command() -> Result<Command, io::Error> {
+    loop {
+        let mut line = String::new();
+        print!(">>> ");
+        io::stdout().flush().unwrap();
+        io::stdin().read_line(&mut line)?;
+        if line.is_empty() {
+            return Ok(Command::Stop);
+        }
+        match line.trim() {
+            "s" => return Ok(Command::Step),
+            "c" => return Ok(Command::Continue),
+            "q" => return Ok(Command::Stop),
+            "" => continue,
+            _ => println!("ERROR: unknown command")
+        }
+    }
+}
diff --git a/tooling/nargo/src/ops/mod.rs b/tooling/nargo/src/ops/mod.rs
index f789455577c..16933a8217c 100644
--- a/tooling/nargo/src/ops/mod.rs
+++ b/tooling/nargo/src/ops/mod.rs
@@ -1,8 +1,10 @@
 pub use self::execute::execute_circuit;
+pub use self::debug::debug_circuit;
 pub use self::optimize::{optimize_contract, optimize_program};
 pub use self::test::{run_test, TestStatus};
 
 mod execute;
+mod debug;
 mod foreign_calls;
 mod optimize;
 mod test;
diff --git a/tooling/nargo_cli/src/cli/debug_cmd.rs b/tooling/nargo_cli/src/cli/debug_cmd.rs
new file mode 100644
index 00000000000..024037d06b6
--- /dev/null
+++ b/tooling/nargo_cli/src/cli/debug_cmd.rs
@@ -0,0 +1,117 @@
+use acvm::acir::native_types::WitnessMap;
+use clap::Args;
+
+use nargo::constants::PROVER_INPUT_FILE;
+use nargo::package::Package;
+use nargo::artifacts::debug::DebugArtifact;
+use nargo_toml::{get_package_manifest, resolve_workspace_from_toml, PackageSelection};
+use noirc_abi::input_parser::{Format, InputValue};
+use noirc_abi::InputMap;
+use noirc_driver::{CompileOptions, CompiledProgram};
+use noirc_frontend::graph::CrateName;
+
+use super::compile_cmd::compile_bin_package;
+use super::fs::{inputs::read_inputs_from_file, witness::save_witness_to_dir};
+use super::NargoConfig;
+use crate::backends::Backend;
+use crate::errors::CliError;
+
+/// Executes a circuit in debug mode
+#[derive(Debug, Clone, Args)]
+pub(crate) struct DebugCommand {
+    /// Write the execution witness to named file
+    witness_name: Option<String>,
+
+    /// The name of the toml file which contains the inputs for the prover
+    #[clap(long, short, default_value = PROVER_INPUT_FILE)]
+    prover_name: String,
+
+    /// The name of the package to execute
+    #[clap(long)]
+    package: Option<CrateName>,
+
+    #[clap(flatten)]
+    compile_options: CompileOptions,
+}
+
+pub(crate) fn run(
+    backend: &Backend,
+    args: DebugCommand,
+    config: NargoConfig,
+) -> Result<(), CliError> {
+    let toml_path = get_package_manifest(&config.program_dir)?;
+    let selection = args.package.map_or(PackageSelection::DefaultOrAll, PackageSelection::Selected);
+    let workspace = resolve_workspace_from_toml(&toml_path, selection)?;
+    let target_dir = &workspace.target_directory_path();
+
+    let (np_language, opcode_support) = backend.get_backend_info()?;
+    for package in &workspace {
+        let compiled_program = compile_bin_package(
+            &workspace,
+            package,
+            &args.compile_options,
+            true,
+            np_language,
+            &|opcode| opcode_support.is_opcode_supported(opcode),
+        )?;
+
+        println!("[{}] Starting debugger", package.name);
+        let (return_value, solved_witness) =
+            debug_program_and_decode(compiled_program, package, &args.prover_name)?;
+
+        println!("[{}] Circuit witness successfully solved", package.name);
+        if let Some(return_value) = return_value {
+            println!("[{}] Circuit output: {return_value:?}", package.name);
+        }
+        if let Some(witness_name) = &args.witness_name {
+            let witness_path = save_witness_to_dir(solved_witness, witness_name, target_dir)?;
+
+            println!("[{}] Witness saved to {}", package.name, witness_path.display());
+        }
+    }
+    Ok(())
+}
+
+fn debug_program_and_decode(
+    program: CompiledProgram,
+    package: &Package,
+    prover_name: &str,
+) -> Result<(Option<InputValue>, WitnessMap), CliError> {
+    // Parse the initial witness values from Prover.toml
+    let (inputs_map, _) =
+        read_inputs_from_file(&package.root_dir, prover_name, Format::Toml, &program.abi)?;
+    let solved_witness = debug_program(&program, &inputs_map)?;
+    let public_abi = program.abi.public_abi();
+    let (_, return_value) = public_abi.decode(&solved_witness)?;
+
+    Ok((return_value, solved_witness))
+}
+
+pub(crate) fn debug_program(
+    compiled_program: &CompiledProgram,
+    inputs_map: &InputMap,
+) -> Result<WitnessMap, CliError> {
+    #[allow(deprecated)]
+    let blackbox_solver = barretenberg_blackbox_solver::BarretenbergSolver::new();
+
+    let initial_witness = compiled_program.abi.encode(inputs_map, None)?;
+
+    let debug_artifact = DebugArtifact {
+        debug_symbols: vec![compiled_program.debug.clone()],
+        file_map: compiled_program.file_map.clone(),
+    };
+
+    let solved_witness_err = nargo::ops::debug_circuit(
+        &blackbox_solver,
+        compiled_program.circuit.clone(),
+        debug_artifact,
+        initial_witness,
+        true,
+    );
+    match solved_witness_err {
+        Ok(solved_witness) => Ok(solved_witness),
+        Err(err) => {
+            Err(crate::errors::CliError::NargoError(err))
+        }
+    }
+}
diff --git a/tooling/nargo_cli/src/cli/mod.rs b/tooling/nargo_cli/src/cli/mod.rs
index 56d36095518..657973a92d0 100644
--- a/tooling/nargo_cli/src/cli/mod.rs
+++ b/tooling/nargo_cli/src/cli/mod.rs
@@ -21,6 +21,7 @@ mod new_cmd;
 mod prove_cmd;
 mod test_cmd;
 mod verify_cmd;
+mod debug_cmd;
 
 const GIT_HASH: &str = env!("GIT_COMMIT");
 const IS_DIRTY: &str = env!("GIT_DIRTY");
@@ -58,6 +59,7 @@ enum NargoCommand {
     New(new_cmd::NewCommand),
     Init(init_cmd::InitCommand),
     Execute(execute_cmd::ExecuteCommand),
+    Debug(debug_cmd::DebugCommand),
     Prove(prove_cmd::ProveCommand),
     Verify(verify_cmd::VerifyCommand),
     Test(test_cmd::TestCommand),
@@ -93,6 +95,7 @@ pub(crate) fn start_cli() -> eyre::Result<()> {
         NargoCommand::Check(args) => check_cmd::run(&backend, args, config),
         NargoCommand::Compile(args) => compile_cmd::run(&backend, args, config),
         NargoCommand::Execute(args) => execute_cmd::run(&backend, args, config),
+        NargoCommand::Debug(args) => debug_cmd::run(&backend, args, config),
         NargoCommand::Prove(args) => prove_cmd::run(&backend, args, config),
         NargoCommand::Verify(args) => verify_cmd::run(&backend, args, config),
         NargoCommand::Test(args) => test_cmd::run(&backend, args, config),