...

1. Right Click on the Software Project in the Project Explorer.
2. Click:Debug As→Launch on Hardware (System Debugger)
3. View will be changed to Debugging and Application will be stared on Hardware with break point on first main entry. (Click F6 (step over) or F5 (step into) to step to the next line).

References

1. Vivado Design Suite User Guide - Embedded Processor Hardware Design (UG898)
2. Generating Basic Software Platforms - Reference Guide (UG113)
3. PetaLinux KICKStart