There are many forms of live traps available for large and small game. Simply bait these with any food that will get the attention of a Raccoon (chicken, eggs, something with a good strong odor) and they are sure to come. Nationwide raccoon and wildlife trapping
Leg traps are very common as well. Simply bait the area of the leg trap or set it near a high traffic entrance or exit that a Raccoon used and presto!