diff --git a/doc/nvimgdb.txt b/doc/nvimgdb.txt
index ff414f0..cde8695 100644
--- a/doc/nvimgdb.txt
+++ b/doc/nvimgdb.txt
@@ -400,6 +400,10 @@ Section 7.1 GDB, LLDB                                *NvimgdbGDB*  *NvimgdbLLDB*
   is injected into GDB/LLDB. It spawns a thread listening for commands via a
   UDP socket, executes them and sends a JSON response back.
 
+- To debug with cargo-debug (https://github.com/cargo-bins/cargo-debug), use
+  `Gdbstart cargo debug` for gdb backend, or `GdbStartLLDB cargo debug` for
+  the lldb backend.
+
 ------------------------------------------------------------------------------
 Section 7.2 rr                                                     *NvimgdbRR*
 
diff --git a/lua/nvimgdb/backend/gdb.lua b/lua/nvimgdb/backend/gdb.lua
index ec1f3e8..628a953 100644
--- a/lua/nvimgdb/backend/gdb.lua
+++ b/lua/nvimgdb/backend/gdb.lua
@@ -104,10 +104,20 @@ function C.get_launch_cmd(client_cmd, tmp_dir, proxy_addr)
   -- We'd like to ensure gdb is launched with our custom initialization
   -- injected.
 
-  -- Check for rr-replay.py
-  local gdb = client_cmd[1]
-  if gdb == "rr-replay.py" then
-    gdb = utils.get_plugin_file_path("lib", "rr-replay.py")
+  local cmd_arg = "-ix"
+  local rest_arg_idx = 2
+  local cmd = {client_cmd[1]}
+  if cmd[1] == "rr-replay.py" then
+    -- Check for rr-replay.py
+    cmd = {utils.get_plugin_file_path("lib", "rr-replay.py")}
+  elseif cmd[1] == "cargo-debug" then
+    -- Check for cargo
+    cmd_arg = "--command-file"
+  elseif cmd[1] == "cargo" then
+    -- the 2nd arg is the cargo's subcommand, should be 'debug' here
+    cmd = {'cargo', client_cmd[2]}
+    cmd_arg = "--command-file"
+    rest_arg_idx = 3
   end
 
   local gdb_init = utils.path_join(tmp_dir, "gdb_init")
@@ -127,9 +137,10 @@ set pagination off
     file:close()
   end
 
-  local cmd = {gdb, '-ix', gdb_init}
+  table.insert(cmd, cmd_arg)
+  table.insert(cmd, gdb_init)
   -- Append the rest of arguments
-  for i = 2, #client_cmd do
+  for i = rest_arg_idx, #client_cmd do
     cmd[#cmd + 1] = client_cmd[i]
   end
   return cmd
diff --git a/lua/nvimgdb/backend/lldb.lua b/lua/nvimgdb/backend/lldb.lua
index f3f8102..17dd761 100644
--- a/lua/nvimgdb/backend/lldb.lua
+++ b/lua/nvimgdb/backend/lldb.lua
@@ -109,7 +109,18 @@ function C.get_launch_cmd(client_cmd, tmp_dir, proxy_addr)
   -- We'd like to ensure gdb is launched with our custom initialization
   -- injected.
 
-  local lldb = client_cmd[1]
+  local cmd_args = {'--source-quietly', '-S'}
+  local rest_arg_idx = 2
+  local cmd = {client_cmd[1]}
+  if cmd[1] == "cargo-debug" then
+    -- Check for cargo
+    cmd_args = {'--debugger', 'lldb', '--command-file'}
+  elseif cmd[1] == "cargo" then
+    -- the 2nd arg is the cargo's subcommand, should be 'debug' here
+    cmd = {'cargo', client_cmd[2]}
+    cmd_args = {'--debugger', 'lldb', '--command-file'}
+    rest_arg_idx = 3
+  end
 
   local lldb_init = utils.path_join(tmp_dir, "lldb_init")
   local file = io.open(lldb_init, "w")
@@ -129,9 +140,13 @@ function C.get_launch_cmd(client_cmd, tmp_dir, proxy_addr)
   end
 
   -- Execute lldb finally with our custom initialization script
-  local cmd = {lldb, '--source-quietly', '-S', lldb_init}
+  for _, arg in ipairs(cmd_args) do
+    table.insert(cmd, arg)
+  end
+  table.insert(cmd, lldb_init)
+
   -- Append the rest of arguments
-  for i = 2, #client_cmd do
+  for i = rest_arg_idx, #client_cmd do
     cmd[#cmd + 1] = client_cmd[i]
   end
   return cmd