Yes. Paying off debts is always in your best interests.
Not necessarily. Unless the debt is substantial, it's far better to pay off the debt with money outside of a retirement account. Otherwise you are sacrificing your retirement and years of compound interest that can't be replaced. Your retirement accounts aren't a piggybank--if you aren't of retirement age, they should only be tapped in the case of an emergency, and just having a debt isn't an emergency.