node-inspector is a great tool for debugging node.js javascript programs. Normally you need to restart your program if you make any changes in the code. With node-inspector all changes (if saves within node-inspector) are present in the running instance without restarting your node.js environment.
Here is a small step-by-step guide for installing node-inspector (I assume that node.js is already installed).
sudo npm install node-inspector
node --debug myprogram.js
node-inspector &
http://127.0.0.1:8080/debug?port=5858
Another method if your node.js application is already running is to send him a signal with the PID number to activate the debugging in node.js
kill -s USR1 (pid of the node.js instance)
Here is a link to the screencast from the developer of node-inspector.
https://github.com/dannycoates/node-inspector/wiki/Screencast-Series