IIRC Senate can impeach judges; not Congress. Let me know if I’m wrong.
Per Article III, Section 1:
The judicial Power of the United States, shall be vested in one supreme Court, and in such inferior Courts as the Congress may from time to time ordain and establish. The Judges, both of the supreme and inferior Courts, shall hold their Offices during good Behaviour......
Federal judges shall hold their Offices during good behaviour, and can be removed by 1) impeachment by House via simple majority and 2) 2/3 majority of Senate to convict. The Senate can hold a second vote to prevent the individual judge from holding future office. This requires a simple majority.
Once Senate convicts the judge is removed immediately.
Impeachment is rare. The last one impeached was G. Thomas Porteous, Jr., a federal district court judge. He was impeached for bribery and perjury in 2010.
Now following Article III, Section 1 the structure and jurisdiction of the federal court system was established by Congress via the Judiciary Act of 1789. Also per Article III, Section 1 it appears that Congress can change the federal courts or eliminate them.
Per Article II, Section 4:
The President, Vice President and all civil Officers of the United States, shall be removed from Office on Impeachment for, and Conviction of, Treason, Bribery, or other high Crimes and Misdemeanors.
One impeachment of note remember the infamous Alcee L. Hastings who was impeached for violating the good behavior clause of Article III, Section 1. Hastings was impeached but not prevented from holding future office, which he did in the House.