Jayapal said she was asked to speak at the demonstration called by women at the Hart Senate Office Building on Thursday, reports The Seattle Times.
The civil disobedience was a reaction to the Trump administration's crackdown at the US-Mexico border, including separation of thousands of children from their parents in recent months.
"I decided that I, too, would sit down with them and submit to arrest," Jayapal said.
"We chanted and sang and talked about the need to reunite these families and to end the President's zero-tolerance policy."
The women were arrested and charged with unlawfully demonstrating in the Senate office atrium, said Eva Malecki, a spokeswoman for the U.S. Capitol Police.
Jayapal was issued a $50 fine for "crowding, obstructing, or incommoding". It was her third arrest at a protest, the other two occurring years before her 2016 election to Congress.
A longtime immigration-rights leader who founded OneAmerica before running for elected office, Jayapal said she has been outraged and unable to sleep over Trump's "zero tolerance" prosecutions of people crossing the US-Mexico border, The Seattle Times reported.
"I think that every American, Republican and Democrat, just has to try and imagine what that looks like, to have a six-month-old baby taken from your breast," she said.
Jayapal has also helped organise "Families Belong Together" protests set for Saturday, with demonstrations in Washington, D.C., and other cities across the nation.
The Trump Administration launched the so-called "zero tolerance" policy in April, which considers illegal border crossing as a criminal offence, meaning that immigrant minors will be separated from their families, reports Efe news.
Last week, Trump penned an executive order to end family separations at the border due to harsh criticism.
Since then, the US government has reunited 538 children with their relatives, but more than 2,000 minors still remain separated, according to data from the Department of Homeland Security.
Jayapal, who was first elected to the Congress in 2016, tweeted she was "beyond proud" to preside over the House and serve in the most diverse Congress in the nation's history.
The Indian American Congresswoman also shared a clip of Tuesday's session where she was seen presiding over the House as a temporary Speaker. House Democrats rotate for the ceremonial position of presiding over the chamber.
"Today, I became the first South Asian American woman to preside over the US House of Representatives. Beyond proud to serve in the most diverse Congress in our nation's history and to hold the gavel today," Jayapal tweeted.
The 116th Congress broke records with women and lawmakers crossing racial and religious barriers, including an all time high for Asian American lawmakers.
A record number of 17 Asian Americans serve in Congress, with 14 in the House and three in the Senate.
In a letter to Pompeo dated September 11, Pramila Jayapal, the first and the only Indian-American Congresswoman in the House of Representatives, and Congressman James P McGovern said the international media and independent human rights observers must immediately be allowed into Jammu and Kashmir to investigate reports of abuse.
"We urge you to work across the Administration to press the Indian Government to immediately end its communications blackout of Kashmir, expedite the process of reviewing and releasing individuals 'preventatively' detained, ensure hospitals have access to life-saving medicines and protect the rights of the Kashmiri people to freedom of assembly and worship," reads the letter.
The two lawmakers told Pompeo that they have significant concerns about the humanitarian and human rights "crisis" in Kashmir.
"In particular, we are concerned about credible reports from journalists and advocates on the ground that the Indian government has detained thousands of people with no recourse, imposed defacto curfews and cut off internet and telephone access on the region," they said.
Restrictions were imposed when New Delhi had on August 5 scrapped the state's special status under Article 370 of the Constitution and bifurcated in into Union territories -- Jammu and Kashmir, and Ladakh.
"We also urged the Indian Government at its highest levels to make it clear that religious tolerance long a principle of Indian history and democracy must be upheld," the two lawmakers wrote in the letter.
Tagging the letter in a tweet, Jayapal said: "I continue to be deeply concerned about credible reports of a humanitarian crisis in Jammu & Kashmir. Even in complex situations, we look to strong democratic allies like India to uphold basic human rights and due process."