After a month and some days developing with the bare Android emulator provided by the SDK, my new employer has given me a Google Nexus to toy with. The first thing I wanted to do was to connect it to Eclipse.
Basically, what you have to do is to open the Android SDK Manager, and install the USB driver for your phone model (either Google or OEM). It copies the install files to the hard drive, so what you want to do next is to open the Windows device manager and look for the phone device that lacks its drivers. You go to the \android-sdk\extras\google\usb_driver folder and pick them up there.
After that (rebbot if you need it), Eclipse will let you choose where you want to debug the app
This tutorial has a lot of screenshots, detailed instructions and more fancy stuff.
http://visualgdb.com/tutorials/android/usbdebug/
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