The debate focused on a wide range of issues including tax reform, education and the role of government.
The event was the first debate of the election year for Libertarian candidate Andrew Horning, although much of the sparring was focused between Republican Richard Mourdock and Democrat Joe Donnelly.
Both candidates took on criticisms of their negative television ad campaigns early on in the debate.
"Congressman Donnelly would like to paint me as someone who can't work with others and it's harsh and cold -- I find it shocking," said Mourdock.
But Congressman Donnelly would fire back, referring to a sound bite in one of his ads. "They're not my words, they're yours. You're the one saying bipartisanship is Democrats wanting what Republicans want them to do."
Libertarian Horning frequently used the disagreements to illustrate bickering between political parties in Washington. During a question about the role of government, horning blasted both candidates' policy proposals.
"Most of what we call government and most of what these gentleman have proposed is clearly unconstitutional," said Horning.
All three men will have one more chance to debate before election day. The next event is scheduled for October 23rd.