MSP432E401Y: What's the right connector?

Just a 10 pin connector header:

https://www.digikey.com/en/products/detail/samtec-inc/FTSH-105-01-L-DV-K/1875039

Gautam D said:

Where can I find the cable that connects these?

These are the Arm 10-pin JTAG headers. Depending on which debug probe you have (e.g. XDS110, XDS200, Jlink and etc), it should come with Arm 10-pin JTAG adapter that you can connect to the board. See the below XDS200 product page for what the debug probe looks like and what comes in the box. 

https://www.ti.com/tool/TMDSEMU200-U