WASHINGTON—The House Judiciary Committee approved along party lines two articles of impeachment charging President Trump with abuse of power and obstruction of Congress, setting up a vote by the full House next week in the Democrats’ push to remove him from office.

The panel’s party-line votes on the charges Friday morning came after Democrats and Republicans sparred in an all-day debate Thursday over whether Mr. Trump improperly pressured Ukraine to start probes that would help him politically and then tried to block Congress…

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