Well, "Impeaching" a president literally just means holding a trial. The House of Representatives (controlled by Democrats at the time) issued articles of Impeachment, initiating the process of charging him with a crime, as is required by law.
The law also mandates the Senate to be the Judge and Jury though, and the Senate was controlled by Republicans, who voted to acquit him of all his crimes. Twice.
So not quite the same, since the vote to end martial law in Korea was unanimous, but the vote to initiate impeachment failed.