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MPs are expected to vote in favour of the government's timetable, of starting formal talks by the end of March, while also calling on the prime minister to publish a "plan" beforehand.
The government said it would set out "strategic plans" before formal talks.
Labour said ministers had now "caved in" by supporting its motion.
MPs are currently voting.
Opening the Commons debate, shadow Brexit secretary Sir Keir Starmer said the government had refused "on every occasion" to give more details, saying information about its negotiating stance was important because it "sets the scene" for Brexit.
The plan which the government has now committed to via an amendment to today's Labour motion must be detailed enough to allow parliamentary scrutiny and enable the Office for Budget Responsibility to assess the impact on the public finances, he said.
Sir Keir said Labour would not allow "a situation where the government seeks a vote in a vacuum, or produces a late, vague plan".
But Brexit Secretary David Davis responded: "The simple fact is that the mandate (in June's referendum) was to leave the European Union - full stop. We need to keep that in mind when we are going through that process."
Adding that the government did not want to declare its position in too much detail before talks with the EU started, he said: "This is a negotiation; it's not a policy statement. And, therefore, where you are aiming for may not be the exact place you end up."
The debate comes after wrangling between the two main parties over the question to be put to MPs.
Labour's motion states that it is "Parliament's responsibility to properly scrutinise the government" over Brexit.
Downing Street put forward an amendment agreeing to publish a "plan" before triggering Article 50 of the Lisbon Treaty, which starts formal talks with the EU - although it has not said how detailed this will be.  It adds that Parliament must "respect" the verdict of the referendum. Article 50 is due to be triggered by the end of March next year.
Labour and the Conservatives are now both backing the motion, as amended.
The government has announced that it will accept Labour's idea to publish a plan, of sorts, for Brexit, before Article 50 begins the legal process of the UK disentangling itself from the EU.
Some Tory MPs were set to gang up with Labour in a vote to force ministers to publish something, anything, about their plans for Brexit, against Theresa May's wishes.
Remember, one of the few things that we know for sure about the prime minister's plans for leaving the EU is that she does not want MPs to be able to tinker with them, scrutinise them in a meaningful way, before she actually gets to the negotiating table.
So has she just backed down? In pure terms, yes. Labour's Keir Starmer, the party's Brexit spokesman, will claim victory. And by accepting Labour's idea, ministers have been pushed to do something they had been intent on avoiding - promising to publish their intentions before the technical legal process begins.
But what will that actually look like? So far, so vague. Accepting the amendment does not mean they have promised to do anything in particular.
Read more from Laura
Both Labour and the government claimed victory when it emerged the final amendment would receive widespread backing in the House of Commons.
Labour said it was a "a welcome and hugely significant climbdown", while government sources said by backing the government's timetable MPs would commit to not delaying the Brexit process.
Former Conservative minister Sir Oliver Letwin, who chaired the government's Brexit unit immediately after the referendum, said he did not expect Theresa May to set out any more detail than what is already known.
The vote will not be binding on the government.
SNP MP Angus MacNeil, whose party will vote against the amendment, said: "No answers is not a black Brexit or a white Brexit. It's not a red, white and blue Brexit. No answers is a yellow Brexit. It's a cowardly Brexit."
He said the government's approach showed it had "absolutely no idea" of its aims.
The Liberal Democrats have also said they will oppose the amendment. Leader Tim Farron called it a "parliamentary stitch-up" that failed to "include any meaningful commitment from the Conservative Brexit government to produce the equivalent of a White or Green Paper setting out its position on such fundamental questions as to whether it wants Britain to remain in the single market".
UKIP MP Douglas Carswell said politicians regarded the June referendum, in which voters backed Brexit by 51.9% to 48.1%, as a "mistake" by the public. He added: "They seem to hold out the hope that we might perhaps have a second referendum and, who knows, presumably assemble a new people."
The debate is happening at the same time as the government is fighting a case in the Supreme Court over whether MPs and peers need to have a vote on triggering Article 50. It says there is no need, while campaigners say that not consulting Parliament would be unconstitutional.
Asked about the case, Mr Davis told MPs: "We will obey the rule of law. We will obey what the court finds."
He added that one of the reasons the government would await the court's decision - expected in January - was that it needed to "get precisely right what it is this House has to do".
Prominent Leave campaigner and senior Tory MP Bernard Jenkin said there should be a quick deal and a quick Brexit to reduce uncertainty. He proposed a "zero-zero" offer on tariffs - meaning that the UK would neither charge nor receive money when importing from and exporting to the EU. "We want to be a good neighbour," he said.
Parliament is entitled to know details ahead of the UK's negotiations with the EU, Labour said as MPs debated the government's Brexit strategy.

The 28-year-old world number two confirmed on Tuesday he will defend the trophy he won for a fourth time last year with victory over Kevin Anderson.
There have been eight four-time champions, including John McEnroe, Boris Becker, Lleyton Hewitt and Andy Roddick in the open era.
"If I could win it for a fifth time it would be amazing," said Scot Murray.
"The names that have won it four times - they are all great tennis players."
Murray, champion in 2009, 2011, 2013 and 2015, made his debut at Queen's in 2005 and used the club's clay courts to prepare for Great Britain's Davis Cup final victory over Belgium in November.
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Britain's Andy Murray wants to win a record fifth Aegon Championship title at Queen's Club this summer.

The Rampion wind farm, between Peacehaven and Worthing, is the first to be located off the south coast.
Energy firm E.On said the seabed would be cleared along the cable route and around each of the turbine positions.
Work is also beginning onshore on the first of 12 cabling stages to the south of Upper Brighton Road, Worthing.
E.On development manager Chris Tomlinson said: "Assessment of the number of boulders is still under way but is likely to be in the thousands and up to six vessels will be on site to undertake the work over the next many months.
"Great efforts will be made to replicate the seabed as it is now and all boulders moved will be weighed and the new position recorded."
Installation of the turbine foundations will begin in January.
The Â£1.3bn wind farm eight miles off the Sussex coast will be visible from the shore and the South Downs National Park.
Onshore, access points will be constructed along the cable route.
This will be followed by trenching works to lay the ducting for the cables which will cross the national park and link to a substation in Twineham.
The wind farm could produce enough electricity for about 300,000 homes.
During the three-year offshore construction period 250 to 300 jobs will be created, with 65 permanent jobs once it is fully operational with a base at Newhaven Port.

Work to move thousands of boulders on the sea bed off the south coast of England is getting under way to enable a 116-turbine wind farm to be built.

