“Democrats need to stop the gamesmanship and get back to putting Americans first,” he added.

The vote took place in a House chamber transformed by the pandemic. Most congressional officials and lawmakers covered their faces with blue surgical masks or fabrics in an array of colors, patterns and — in the case of at least one member — glitter.

In between votes that slowed to a crawl to allow for social distancing, more than a dozen staff members wearing orange gloves and masks rushed to clean the chamber with disinfecting sprays and wipes, scrubbing armrests, banisters and microphones before lawmakers returned.

Multiple lawmakers who had previously had to isolate outside Washington after testing positive or being exposed to Covid-19, the disease caused by the coronavirus, returned to vote. Representative Maxine Waters, Democrat of California, her voice cracking with emotion, said that she was dedicating the bill to her sister, who was dying of the virus in a St. Louis hospital.

Congressional officials and representatives took unusual precautions. Lawmakers filtered through the chamber in smaller groups to cast their votes — prolonging the voting period to about 90 minutes compared with the usual 15 — and boxes of gloves and surgical masks were set outside the chamber doors, which remained open so that those coming and going would not have to touch them. During the debate, a few lawmakers wandered up to the gallery above, typically reserved for the public, to witness the spectacle.

Democratic leaders had initially planned to push through a historic modification to House rules that would allow for remote voting, but they postponed the move amid opposition from Republicans, who have begun clamoring for the chamber to resume business as usual, echoing calls from conservatives around the country.

“I have always believed that whenever possible, any changes to our rules should be bipartisan,” said Representative Jim McGovern, Democrat of Massachusetts and the chairman of the House Rules Committee, who will examine the issue with other top Republicans and Democrats. “However, the status quo is unacceptable and dangerous, not just to members of Congress, but, more importantly, to everyone we come in contact with.”

Among those taking precautions on the floor was Ms. Pelosi, who carefully wiped down the lectern and removed her scarf from her face each time she delivered remarks. She donned purple latex gloves to carefully write her vote to form the select committee on a green card.