We're still in the process of putting together a nice interface for this, but automatic differentiation is a good option that isn't available in most other languages. It will give you an *exact* numerical derivative, not subject to approximation error from finite differences. As an example of how to use the DualNumbers package to compute a Jacobian matrix, see
https://github.com/EconForge/NLsolve.jl/pull/6. If you have any questions on this, I'm happy to help out.
As a fallback, the Calculus package has routines for computing a Jacobian using finite differences.