How do we debug a ruby AWS lambda function locally?

Typically, when developing in the server-based model, I run the server locally, include the byebug/pry gem, then add byebug or binding pry in the code, where the execution stops and I am able to debug the issue. But when using the AWS serverless model(SAM), I'm not able to find a way to debug the code locally. Do we have a way to debug ruby code locally by evaluating the expression in the terminal or adding a breakpoint?