(CNN) Former Vice President Joe Biden said Tuesday if President Donald Trump does not cooperate with Congress, he would leave lawmakers with "no choice" but to start impeachment proceedings.

"It is time for this administration stop stonewalling and provide the Congress with all the facts it needs, including a copy of the formal complaint made by the whistleblower . And it's time for the Congress to fully investigate the conduct of this President," Biden said.

The Democratic presidential candidate said if Trump "does not comply with such a request from the Congress, if he continues to obstruct Congress, and flout the law, Donald Trump will leave Congress, in my view, no choice but to initiate impeachment."

"That would be a tragedy, but a tragedy of his own making," he said, speaking from Wilmington, Delaware.

Biden's comments on Tuesday were the most direct statement he has made on impeachment. But by making his call for Trump's removal conditional, he stopped short of some of his Democratic rivals, including Massachusetts Sen. Elizabeth Warren, who are calling for the House to impeach Trump now.