The crucial vote is slated for Sunday on whether to send the measure to the Senate, where an impeachment trial would take place, prompting the president's suspension from office.
The atmosphere in the lower Chamber of Deputies was electric at the start of the session, as Rousseff's critics festooned themselves with yellow and green ribbons and brandished placards reading "Impeachment Now!"
Lawmakers backing impeachment allege Rousseff's administration violated fiscal rules, using sleight of hand accounting in a bid to shore up public support.
Rousseff's defenders insist she did nothing illegal, and say similar accounting techniques were used by previous presidents.
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Miguel Reale Junior, author of the impeachment petition, said Rousseff's maneuvering directly led to the ills plaguing the country today, such as high inflation and periodic devaluations of the Brazilian real against the US dollar.
"Are you going to tell me that isn't a crime?" Junior told the body, adding that the impeachment push was not "a coup," as government supporters contend.
He warned that impeachment would constitute an act of "violence without precedent" against democracy and the Brazilian people.
Flanked by people holding signs showing the constitution being ripped apart, Cardozo insisted the whole impeachment process was an act of personal vengeance against Rousseff by the house Speaker Eduardo Cunha.
Cunha, Cardozo alleged, was striking out at Rousseff for refusing to help him avoid an ethics probe into allegations he received millions in bribes from the sprawling corruption scheme in the Petrobras oil company.
"Violence has been committed against the democratic state," Cardozo shouted, gesticulating wildly.