1. Install "Java Extension Pack" https://marketplace.visualstudio.com/items?itemName=vscjava.vscode-java-pack
2. Add the "Debug (Attach)" configuration to your "launch.json":

{
    "type": "java",
    "name": "Debug (Attach)",
    "request": "attach",
    "hostName": "localhost",
    "port": 8000
}

A quick way to do this is to type Command+Shift+P on Mac or Ctrl+Shift+P on Windows or Linux and type "open launch.json"

Note: You may be able to use the "Debug (Launch)" but I wasn't able to get it to work. Maybe the future version of Java Debugger for VS Code fixes this issue.

3. Add the following tasks to your "tasks.json":

"tasks": [
    {
        "taskName": "debug",
        "type": "shell",
        "command": "mvn spring-boot:run -Drun.jvmArguments=\"-Xdebug -Xrunjdwp:transport=dt_socket,server=y,suspend=y,address=8000\"",
        "group": "build"
    },
    {
        "taskName": "build",
        "type": "shell",
        "command": "mvn clean install",
        "group": "build"
    },
    {
        "taskName": "debug test",
        "type": "shell",
        "command": "mvnDebug test -DforkMode=never",
        "group": "test"
    },
    {
        "taskName": "test",
        "type": "shell",
        "command": "mvn test",
        "group": "test"
    }
]

A quick way to do this is to type Command+Shift+P on Mac or Ctrl+Shift+P on Windows or Linux and type "configure task" to create the tasks.json file.

4. (Optional) Add "spring-boot-devtools" to your pom.xml file

<dependency>
    <groupId>org.springframework.boot</groupId>
    <artifactId>spring-boot-devtools</artifactId>
    <optional>true</optional>
</dependency>

spring-boot-devtools module provides some nice features during development such as automatic restart.

1. Run the "debug" task by hitting "Command+Shift+B" on Mac or "Ctrl+Shift+B" on Windows or Linux and select "Debug->Continue without scanning the task output".
2. As soon as you see "Listening for transport dt_socket at address: 8000", go to the Debug view in VS Code (Command+Shift+D/Ctrl+Shift+D) and hit play for "Debug (Attach)".

1. Run the "build" task by hitting "Command+Shift+B" on Mac or "Ctrl+Shift+B" on Windows or Linux and select "Build->Continue without scanning the task output".

1. Run the "test" task (Command+Shift+P/Ctrl+Shift+P -> "Run test task" -> "test")

1. Run the "debug test" task (Command+Shift+P/Ctrl+Shift+P -> "Run test task" -> "debug test")
2. As soon as you see "Listening for transport dt_socket at address: 8000", go to the Debug view in VS Code (Command+Shift+D/Ctrl+Shift+D) and hit play for "Debug (Attach)".