Huw Edwards hosted the final six-way leaders' debate before next Thursday's election
The Conservatives, Liberal Democrats, Plaid Cymru, Labour, UKIP and the Green Party took part
Health was the main issue on which the leaders clashed
The future of the steel industry and efforts to boost education were also in the spotlight
UKIP Wales leader Nathan Gill promises an NHS "free at point of delivery".
He promises to support GPs who provide the bulk of healthcare with a minority of resources.
UKIP also opposes a transatlantic trade deal which would lead to more privatisation - saying the deal can only be opposed if the UK leaves the EU.
Plaid Cymru leader Leanne Wood says Labour has run the NHS down and the Tories would sell it off.
She says her party would recruit and train extra doctors and nurses, and invest in the social care system - solve the anomaly where some care is free and some is paid for.
Andrew RT Davies says the Tories would protect funding for the NHS and would not bring in a "wholesale reorganisation" - the NHS needs it "like a hole in the head", he says.
He says the Tories would focus on the "major killers" such as cancer and stroke, and work hard to retain good qualified staff.
We can't let one in seven people in Wales remain on waiting lists, he adds.
Kirsty Williams says we can ease pressure on the NHS by improving access to GPs with a £10m fund.
She also points to the law the Lib Dems pushed on minimum nurse staffing levels in hospital.
Ms Williams says she wants to "take politics out of the NHS" - let's stop arguing, and get round the table with professionals, she says.
Dr Ata Maaz, a paediatric consultant at Cardiff's University Hospital of Wales, asks:
"What will you do to relieve pressure on hospitals and ensure our NHS is sustainable into the future?"
We can't carry on with "business as usual" with a "lazy, Labour government", he says.
He said a vote for the Conservatives was a vote for "real change", with improved public services, especially the NHS.
Ms Williams says the people have called for smaller class sizes and dignity in care.
Welsh Lib Dems will cut class sizes, hire more nurses and create an opportunity economy - everyone will have a home of their own, she adds.
The party will reject the £10,000 pay rise coming to assembly members.
We'll deliver a Wales that works for you, she says in conclusion.
Put a fresh new party into the assembly, says Mr Gill.
Without UKIP, there would be no referendum on Europe, he adds.
We've punched well above our weight as a party, he says, adding voting in the "same old way" will change nothing in Wales.
The gap is closing between Plaid and Labour, pushing the Tories into third place, she claims.
She says the election is a two-horse race.
If you agree it's time for a change, vote for Plaid Cymru, she says.
Ms Wood promotes her party's "cancer contract" and promise of 5,000 extra NHS staff.
He starts by praising NHS staff on duty, "going the extra mile", while junior doctors are on strike in England.
We won't have an expensive, wholesale re-organisation, he says, promising a "safe, sustainable health service".
Alice Hooker-Stroud starts, saying "we need Green voices in the Senedd" for a sustainable Wales.
She promises green energy and to protect public services.
The Welsh Government should serve everyone wherever they live in Wales, she says, adding the Greens will "punch above their weight".
She urges people to use their regional vote to support the Greens.
Huw Edwards welcomes viewers, saying he and the audience will be testing the pledges and claims of the six leaders' parties over the next 90 minutes.
BBC Wales reporter Carl Roberts took a tour backstage as preparations geared up.
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The leaders are in place for the debate.
After the opening statements, up to four main questions from the audience will then be asked.
The leaders will all be given a chance to respond to each question before Huw Edwards asks a follow-up question or turns to the audience.
The key areas to be discussed are health, the economy, education and the future of devolution in Wales; in that order.
The parties have already drawn lots to decide their standing positions and the order of their opening statements which will be about one minute each.
Alice Hooker-Stroud of the Greens will speak first, followed by Carwyn Jones of Labour, Plaid Cymru's Leanne Wood, Nathan Gill of UKIP, Welsh Lib Dem leader Kirsty Williams and finally Andrew RT Davies of the Welsh Conservatives.
BBC Wales reporter Cemlyn Davies is backstage at St David's Hall.
Presenter Huw Edwards has been telling the audience tonight's programme will be a showcase of Welsh political debate.
Image source, BBcParty leaders are getting set for their final six-way debate before next Thursday's assembly election. We'll be covering events as they unfold at St David's Hall in Cardiff from 20:30 BST.