Jerry Nadler, D-N.Y., the chairman of the committee, of the committee's rules.
Whitaker, who was appointed acting attorney general in November, said ultimately he is in charge of the Mueller investigation. Trump has repeatedly referred to the Russian Federation investigation as a "witch hunt".
"I gotta tell you, I say that with sadness, because the attorney general role is America's lawyer".
She said House Democrats' view of Whitaker was condescending, and they wanted to intimidate the acting AG.
House of Representatives judiciary committee hearing, adding that he has not taken any action in the probe or interfered "in any way".
Chairman, I see that your five minutes is up, ' he said, prompting an uproar from the gallery and laughter from Chairman Jerrold Nadler, a New York Democrat.
'I want to be very specific about this, Mr. Chairman because I think it's going to allay a lot of fears that have existed among this committee, among the legislative branch largely, and maybe among some American people, ' Whitaker said.
"We're all trying to figure out: Who are you, where did you come from and how the heck did you become the head of the Department of Justice", said Rep. Hakeem Jeffries.
Whitaker also denied a news report that Trump had lashed out at him after the guilty plea of Michael Cohen, the president's former lawyer. "We have followed the special counsel's regulations to a T".
"If he feels that a yes or a no is appropriate, he'll answer in a yes or a no; if he does not feel it's appropriate, he should be able to answer in the appropriate way, as many other Democrats have done before this committee before", Collins said.
Nadler called the hearing to provide oversight of the U.S. Department of Justice, which Whitaker has overseen since former Attorney General Jeff Sessions was sacked in November. If Matt Whitaker had been on trial for the crime of jay-walking or littering, if the Democrats had their way, he would be on death row by now.
"In light of that commitment", department spokeswoman Kerri Kupec said in a statement, Whitaker looked forward to come to Capitol Hill and discussing "the great work" carried out by the department.
On Thursday Whitaker had threatened not to appear at the hearing after Democrats approved a tenative subpoena, that if issued, would have compelled the acting attorney general to answer the panel's questions.
In one case, he refused to answer Democratic congresswoman Sheila Jackson Lee's questions with a yes or no, and made a flippant remark about whether the time she had lost on the clock had been restored before he answered her questions. William Barr, who is likely to be confirmed as attorney general next week, also testified last month that he believed Mueller was not on a witch hunt. Whitaker was the former attorney of the southern district of Iowa and former chief of staff for then-Attorney General Jeff Sessions.
The stalemate ended Thursday evening after the committee chairman, Nadler of NY, said the committee would not issue a subpoena if Whitaker appeared voluntarily.
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