WASHINGTON—The House Judiciary Committee prepared to vote later Thursday on two articles of impeachment against President Trump, over allegations that he pressured Ukraine to start probes that would help him politically and then tried to block Congress from investigating.

If the panel votes to approve the articles, as expected, they would go to the full House for a vote next week. If the House votes to impeach on either of the counts, the matter would then move to the Republican-controlled Senate, where a two-thirds vote is…

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