Prime Minister Malcolm Turnbull and Opposition Leader Bill Shorten will face off for the first time in the election campaign by the end of the week, having agreed to participate in a "people's forum" debate in western Sydney.

At the end of the first day of campaigning, which saw Mr Turnbull and Mr Shorten barnstorm marginal Queensland seats, Sky News announced it will broadcast the event from 6pm AEST on Friday.

When the Prime Minister kicked off his campaign on Sunday, he said debates hadn't been discussed yet but "I look forward to having a number of them".

A spokesperson for the Labor campaign said Mr Shorten was ready to discuss the Coalition's proposed company tax cuts and funding cuts in health and education.