CARACAS—Venezuelan opposition lawmakers rammed their way into Congress, barging past soldiers trying to keep them out of the legislature building and swearing in opposition leader Juan Guaidó as head of the assembly in a darkened chamber.

The opposition members’ actions on Tuesday—the latest twist to the country’s intensifying political crisis—came days after soldiers and supporters of President Nicolás Maduro barred them from entry. The president namedLuis Parra, a lawmaker who broke from the opposition alliance, as head…

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