Comstock said the staffer later left her job.
Speier added that staff members on Capitol Hill deserve to "be able to work in a hostile free work environment".
Her colleague, House Republican Barbara Comstock, told the panel of a young staffer who delivered documents to her lawmaker boss's residence and was greeted by the congressman, who was wearing only a towel.
"What are we doing here for women right now who are dealing with somebody like that?"
Amid a daily deluge of stories about harassment in the workplace, female members of Congress detailed incidents of sexual misconduct involving current lawmakers at a House hearing Tuesday on how to prevent such abuse.
She said that when she was just starting her career in politics, the chief of staff in her office sexually assaulted her.
Both House Speaker Paul Ryan of Wisconsin and Senate Majority Leader Mitch McConnell of Kentucky support ramping up sexual harassment training, as does House Minority Leader Nancy Pelosi, a California Democrat.
Following the hearing Tuesday, Ryan issued a statement saying, "Going forward, the House will adopt a policy of mandatory anti-harassment and anti-discrimination training for all Members and staff".
House lawmakers on Tuesday will review the chamber's sexual harassment policies in the wake of sweeping allegations of sexual misconduct and harassment that have rocked powerful institutions and industries across the country.
One lawmaker, Republican Rodney Davis of IL, said that some female staffers in his office anxious that "some offices might take a shortcut and not hire women as a way to avoid these issues".
Congressional leaders said they are ready to order mandatory sexual harassment prevention training for all offices of the U.S. House, but there is no timetable for getting that done. Alabama's Republican nominee for Senate has come under fire after several women have come forward with accounts of sexually inappropriate behavior or, in at least one case, assault, at Moore's hand when they were teenagers. "By the way. the general counsel of the House is representing the harasser".
The lawmaker said that now, if a victim of harassment were to report to the compliance office, they would first be required to undergo mandatory counseling for 30 days.