Using Android Studio there is a plugin allowing you to connect USB Debugging without the need of using any ADB command from a terminal.

Enable ADB over network in developer setting.

On some device you can do the same thing even if you do not have an USB cable: This information may prove valuable to future readers, but I rolled-back to the original version that had received 178 upvotes. Do it only when connected to a trusted Wi-Fi and remember to disconnect it when suggested that line 2 should be modified, commenting: '-d option needed to connect to the USB device when the other connection persists (for example, emulator connected or other Wi-Fi device)'. WARNING: leaving the option enabled is dangerous, anyone in your network can connect to your device in debug, even if you are in data network. To find the IP address while using OSX run the command adb shell ip route.

To find the IP address of the device: run adb shell and then netcfg. If you have more than one device, you can specify the device with the -s option: adb -s :5555 usb. To switch the server back to the USB mode, run adb usb, which will put the server on your phone back to the USB mode. Now you have a device over the network with which you can debug as usual.This connects to the server we set up on the device on step 2 Look up the device IP address with adb shell netcfg or adb shell ifconfig with 6.0 and higher.This makes the device to start listening for connections on port 5555

Connect the device via USB and make sure debugging is working.See forum post Any way to view Android screen remotely without root? - Post #9.

Android studio debug device image