It led to Collins objecting, calling Swalwell's actions unparliamentary due to the language he used on the floor.
Over the weekend, Trump tweeted that four Democratic freshmen should "go back" to their home countries — though all are citizens and three were born in the U.S.
Critics described the tweets as "racist comments" and when Congress members discussed the issue on the floor Tuesday, it caused more tension.
Swalwell, a California representative went down a list, going over some of the comments the president has made over time, calling it "racist."
"We have an opportunity today to condemn or condone," he said. "Birtherism is racist. Saying a Mexican judge can't be fair because of his heritage is racist. Saying immigrants from Mexico are rapist is racist. Saying there were good people on both sides in Charlottesville is racist. Calling African countries [expletive] countries is racist. And telling four members of this body to go home is racist."
Before the Democrat could go any further, you can hear an outburst in the room. Swalwell acknowledges the interruption, asking Collins, "do you not think it's racist?"
Order is eventually reestablished in the room.
"I make a point of order that the gentlemen's words are unparlimentary and I request they be taken down," Collins said.
You can also hear someone shout "those are President Trump's words."
When Swalwell eventually returned to speak, he refrained from using the profanity. He also tweeted about the encounter saying that Collins objected, calling the language he used vulgar.
"He's right. So why won't he & @housegop object to Trump saying it," he said in his tweet.
The Associated Press contributed to this report.