Whitaker testified following a lengthy fight with Nadler over the prospect that he would be subpoenaed for not answering questions.
He told lawmakers that there has been no change since his arrival in the job in the "overall management" of special counsel's Robert Mueller investigation.
For Democrats, it was their first and likely only chance to grill an attorney general they perceive as a Trump loyalist and whose appointment they suspect was aimed at suppressing investigations of the Republican president.
Bickering ensued between Whitaker and a number of Democrats during the House hearing Friday, and Whitaker stunned the room when he attempted to call time on Chairman Jerrold Nadler (N.Y.).
Lofgren also asked Whitaker about his comment at the press conference that Mueller's decisions would be reviewed "through the various means we have".
That drew a response from Rep. Doug Collins, the top Republican on the committee.
Democrats pushed Whitaker on whether he was still critical of the special counsel investigation he is now in charge of.
Later, he was scolded by Rep. Sheila Jackson Lee, D-Texas, when she asked if her time had been restored and Whitaker responded: "I don't know if your time's been restored or not".
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In a letter, the heads of the House Oversight and Reform, Energy and Commerce, Judiciary and Intelligence committees said new records showed Whitaker did not return money to consumers who had complained about the company's practices. Whitaker was the former attorney of the southern district of Iowa and former chief of staff for then-Attorney General Jeff Sessions.
"Still, House Democrats warned him not to interfere with the investigation in the several days he had left before the Senate confirms Barr as attorney general".
Nadler later agreed to drop the threat, after Whitaker said he would back out from testifying if the subpoena was served.
I watched the hearing. When they did ask questions about the investigation, Republicans asked whether it had strayed from the pursuit of possible crimes to targeting individuals, and whether key Justice Department officials were biased in the investigation.
"I will not allow the witness to stall and waste members' time", Nadler said.
A few hours later, Nadler tweeted, "CONFIRMED: Acting Attorney General Whitaker will appear".
Democrats also inquired about Whitaker's past business dealings. Trump insists there was "no collusion" between his campaign and Russian Federation.
The retort came after Nadler had chastised Whitaker for evading questions and said that he wanted Whitaker to appear before the committee "in the coming weeks" for a private deposition.