Any shortcut for the "debug" in the codelens of VSCode?

I am using the C/C++ extension in VSCode along with rust-analyzer for debugging.
When I click on the debug in CodeLens, it works well.
However, when I try to debug by pressing F5, I am prompted to configure it in launch.json.
Is there a shortcut key to trigger the debug in CodeLens?

The command workbench.action.tasks.reRunTask “Tasks: Rerun Last Task” will rerun the last task you ran, including ones you picked from the lens. It doesn’t have a default keyboard shortcut but you can add one.

Thank you for your reply. After debugging once, the command executed by using workbench.action.tasks.reRunTask is cargo run to start the project, which did not initiate debugging. This is not the effect I was looking for.
Now I am using the modified configuration created by VSCode for debugging C++ to perform the debugging.