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The debate featured a town-hall format in which Trump and Clinton fielded questions from both a moderator and members of an audience composed entirely of uncommitted voters selected by the Gallup Organization.
Here's CNBC's latest debate coverage and analysis:
—Markets call a draw on 2nd presidential debate
—No, the US does not have the 'slowest growth since 1929'
—Trump disagrees with Mike Pence on targeting military targets of Syria's Assad
—Trump: 'Of course' I used $1 billion loss to avoid federal income taxes
—Clinton says Russian attempts to influence elections are meant to help Trump
—Trump vows to kill Obamacare, Clinton wants to 'fix' it
—Trump to Clinton: 'You'd be in jail' if I was in charge
—Clinton blasts Trump: 'We are great because we are good'
—Peso trims gains as Trump has 'scored a few points'
—Donald Trump leads debate social media chatter at halftime
—Trump threatens to appoint a special prosecutor for Clinton if he wins
—Trump: 'Carnage all over the world' more important than 'locker room talk'
—Trump says his comments were just words, but Bill Clinton's indiscretions were action
—Trump lures reporters to 'debate prep,' where he sits among Bill Clinton accusers
—Ron Paul says no to both the Democrat and Republican, but yes to gold
—The most effective lines of attack to expect at Sunday's presidential debates
—Clinton, Trump don't shake hands to start debate
Heading into this debate, Clinton led the race by an average of 3.7 percentage points, according to a RealClearPolitics average of recent national polls including third-party candidates Gary Johnson and Jill Stein.
Many pundits said the first debate went poorly for Trump, who elicited laughter when said he has a "much better temperament" than Clinton. The New York businessman later claimed he held back on making "inappropriate" comments about Bill Clinton. During that first face off, the Democratic nominee slammed Trump for perpetuating a false claim that President Barack Obama was not born in the United States.
Update: This story was updated to reflect the most recent RealClearPolitics average of recent national polls.