President Barack Obama and his Republican challenger, former Massachusetts Gov. Mitt Romney, faced off in the first presidential debate held Wednesday night at Magness Arena at the University of Denver.

PBS News Hour anchor Jim Lehrer moderated the 90-minute debate, which focused on domestic issues including job creation, taxes, Medicare, Social Security and the federal deficit. For more debate highlights, click here.

The second presidential debate, a town hall event, is scheduled for Oct. 16 at Hofstra University in New York. The third presidential debate, focusing on foreign policy, will be held at Lynn University in Boca Raton, Fla., on Oct. 22.

The vice presidential debate will be held on Oct. 11 at Centre College in Danville, Ky.