You need to create a set of escaped (with \) parentheses (that match the parentheses) and a group of regular parentheses that create your capturing group:
var regExp = /\(([^)]+)\)/;
var matches = regExp.exec("I expect five hundred dollars ($500).");
//matches[1] contains the value between the parentheses
console.log(matches[1]);
Breakdown:
\(: match an opening parentheses(: begin capturing group[^)]+: match one or more non)characters): end capturing group\): match closing parentheses
Here is a visual explanation on RegExplained