***As to removal by recall, the United States Constitution does not provide for nor authorize the recall of United States officers such as Senators, Representatives ... thus no Member of Congress has ever been recalled in the history of the United States***
It would most likely be done at the state level - a governor would remove a serving Congress person or there would be a recall election. I don’t know about the history of such. Of course the Congress can refuse to seat an individual - as the Dems are doing now in the House.
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The US Constitution does not provide for or authorize recall...Things not specifically provided are reserved to the people-10th amendment.
However there have been a couple of attempts, and lower courts ruled that would alter the terms of office. None went to the Supremes.
However, a term limits case did. The Supremes said no to term limits. However the conservatives wrote dissenting opinion based on 10th amendment rights of the people. Legal summary of 3 pages below:
https://scannedretina.files.wordpress.com/2013/09/recalling-u-s-senators-and-congressmen2.pdf
E.g., tar and feathering.