At the end of the debate, Harris and Pence took a final question from a high school student who asked about civility in politics.

Pence touted "free and open debate" as the basis for American life. Pence referenced the relationship between late-Justices Ruth Bader Ginsburg and Antonin Scalia for their close relationship despite ideological differences.

"I just want to encourage you, I want to tell you that we're going to work every day to have government as good as our people," Pence said. "The American people, each and every day, love a good debate and a good argument. But we always come together, and we're always there for one another in times of need. And we've especially learned that through the difficulties of this year."

Harris responded by talking about Biden's efforts to be bipartisan and work across the aisle.

"So when you think about the future, I do believe the future is bright. And it will be because of your leadership, and it will be because we fight for each person's voice through their vote. And we get engaged in this election," Harris said. "You have the ability through your work, and eventually your vote, to determine the future of our country and what its leadership looks like."

Page asked both candidates how they would react if Trump refuses to accept a peaceful transfer of power if Biden were to win the election.

Both candidates dodged the question and used the opportunity to begin pitching their closing message to voters.

"Joe and I are particularly proud of the coalition that we have built around our campaign. We probably have one of the broadest coalitions of folks that you've ever seen in a presidential race," Harris said.

"It is within our power, and if we use our society, and we use our voice, we will win," she added. "And we will not let anyone subvert our democracy."

Pence suggested any concerns over a peaceful transfer of power are unfounded and that he expects Trump will win reelection.

"President Donald Trump has launched a movement of everyday Americans from every walk of life," Pence said, "and I have every confidence that the same Americans are delivering it in 2016."

PENCE'S CLAIM: "It was an outdoor event, which all of our scientists regularly and routinely advise."

FACT CHECK: Vice President Mike Pence defended the 200-person event the Trump administration held at the White House on Sept. 26 when President Donald Trump announced he would nominate Judge Amy Coney Barrett to the Supreme Court -- despite the fact that over a dozen guests who attended have since tested positive, including the president and first lady Melania Trump.

While the main ceremony was held outside in the Rose Garden, numerous guests, including Trump, attended an indoor reception in the Diplomatic Room in the White House afterward. At least five people who attended the indoor portion of the event have since tested positive, including former New Jersey Gov. Chris Christie, Sen. Thom Tillis, R-N.C., and Sen. Mike Lee, R-Utah.

Public health experts have repeatedly advised against indoor events, which has found renewed importance in light of recent Centers for Disease Control and Prevention guidance advising that the virus can spread beyond 6 feet indoors.

Even for outdoor events, public health experts encourage wearing masks and maintaining 6 feet of distance from others. The Rose Garden event did not follow either of these social distancing norms; chairs were not spaced out, few guests opted to wear masks and guests hugged and shook hands.

The coronavirus outbreak has infected "34 White House staffers and other contacts" in recent days, according to an internal government memo, an indication that the disease has spread among more people than previous known in the seat of American government, according to an ABC News report.

ABC News' Olivia Rubin and Leah Croll

PENCE'S CLAIM: "Before there were more than five cases in the United States, all people who had returned from China, President Donald Trump did what no other American president had ever done. And that was, he suspended all travel from China, the second-largest economy in the world."

FACT CHECK: At the end of January, President Donald Trump issued a proclamation to restrict travelers who had visited China in the previous 14 days from entering the United States, but it was more narrow than Pence described. The orders did not apply to U.S. citizens, green card holders and their close family members. Health care workers were also exempt.

Nearly 760,000 people entered the U.S. from China between December of last year and February, according to an ABC News review of traveler data.

Restrictions on travelers from Europe started in March. An April study from researchers at the Icahn School of Medicine at Mount Sinai found the first coronavirus cases in New York originated from Europe, not China.

--ABC News' Quinn Owen

In response to COVID-19 concerns from Kamala Harris’ team, the Commission on Presidential debates has agreed to add additional safety precautions at the debate.

Vice President Mike Pence and Harris will be seated 12-feet and 3-inches away from each other and from the debate moderator, USA Today Washington Bureau Chief Susan Page. As was the case at the presidential debate, there will be no handshakes between the candidates, and while the Commission said there would also be plexiglass separating Harris, Pence and Page, the Pence campaign has objected to using it.

A senior administration official in Pence’s office told ABC News Tuesday that there had been no formal agreement about the plexiglass and that while Harris and Page could use it, Pence doesn’t want to.

In a statement to ABC News, Pence spokeswoman Katie Miller said, "If Sen. Harris wants to use a fortress around herself, have at it."

Though Harris, Pence and Page will not wear masks on stage, everyone else in the debate hall will be required to wear one. Anyone who takes their mask off will be escorted out, according to the rules.

During the presidential debate in Cleveland, members of the Trump family were seen sitting in the audience without masks, even after being asked to put them on.

Harris and Pence will be tested prior to the debate, according to the Commission, which is a change from the presidential debate when the campaigns were responsible for testing their candidates and traveling parties.

“They’ve got to wear a mask, and if they take their mask off they're gonna be escorted out, and I don't care who they are, they'll be escorted out,” said Frank Fahrenkopf, chairman of the Commission on Presidential Debates, in an interview with ABC News.

The vice president has tested negative each day since Friday, and his White House physician has cleared him from having to quarantine, citing that he is not a “close contact” with anyone who’s tested positive, including Trump.

But Pence was present at the Rose Garden ceremony on Sept. 26 when Trump announced Judge Amy Coney Barrett as his U.S. Supreme Court nominee. Eleven of the attendees have since tested positive for COVID-19. He was also in the Oval Office with Trump the morning of his debate, just days before the president tested positive.

Harris tested negative for COVID-19 Monday after being screened in Salt Lake City, where she has been gearing up for the debate, according to an aide.

-ABC News' Justin Gomez and Averi Harper