You can use VNC. Here's the information from the official repo
You can acquire the port that the VNC server is exposed to by running:
$ docker port <container-name|container-id> 5900
#=> 0.0.0.0:49338
In case you have RealVNC binary vnc in your path, you can always take a look, view only to avoid messing around your tests with an unintended mouse click or keyboard interrupt:
$ ./bin/vncview 127.0.0.1:49160
If you are running Boot2Docker on OS X then you already have a VNC client built-in. You can connect by entering vnc://<boot2docker-ip>:49160 in Safari or Alfred.
When you are prompted for the password it is secret. If you wish to change this then you should either change it in the /NodeBase/Dockerfile and build the images yourself, or you can define a Docker image that derives from the posted ones which reconfigures it:
#FROM selenium/node-chrome-debug:2.53.0
#FROM selenium/node-firefox-debug:2.53.0
#Choose the FROM statement that works for you.
RUN x11vnc -storepasswd <your-password-here> /home/seluser/.vnc/passwd