The decision to hold the trial followed a 59 to 21 vote. No trial date has yet been set, however, reports suggested it will likely be held at the end of the month.
Rousseff has been suspended since May for allegedly manipulating finances ahead of her re-election in 2014. She denies all allegations.
While she has not been implicated in the massive corruption scandal in Brazil involving state-run oil giant Petrobras, Rousseff has suffered plummeting popularity due to the deep recession affecting Brazil and public anger over the revelations of the so-called Operation Car Wash.
Now,