Nowadays there is a lot of embedded software derived from the widespread of embedded systems. The characteristics of the embedded systems are the small size, limited resource and power. Because of that reason, the software in the embedded system is different from general computer software. Especially, finding bugs in the embedded software is the most different and complicate activity out of the embedded system development processes. In order to provide the high flexibility and the efficient deployment of various embedded systems, we developed a scalable and user-friendly debugger named Esto NS-Debugger (Esto Non-Stop Debugger). It supports general debugger functions and user-friendly interface like general software debugger. Especially as the time-sensitive and time-consuming application debugging is very difficult and boredom jobs, we also support a non-stop debugging function. In this paper, we focus on the design and implementation of the non-stop debugging function.