When people spar[verb] (or have a spar[noun]) over some topic, they have a friendly argument.
Phelps invited Ted Frederickson, associate professor of journalism, to a spar on the issue of "homosexuals and the military".
Phelps invited Ted Frederickson, associate professor of journalism, to spar over the issue of "homosexuals and the military".
ODO:
spar
NOUN1 A period or bout of sparring.
‘Remembering the spars she had had with the brothers, she smiled.’
VERB
[NO OBJECT]
1.1 Argue with someone without marked hostility:
‘mother and daughter spar regularly over drink, drugs, and career’