The House has voted to slap back President Donald Trump’s tariffs on Canada, a rare if largely symbolic rebuke of the White House agenda as Republicans joined Democrats over the objections of GOP leadership.

Wednesday’s tally, 219-211, was among the first times the House, controlled by Republicans, has confronted the President over a signature policy. The resolution seeks to end the national emergency Mr. Trump declared to impose the tariffs, though actually undoing the policy would require support from Mr. Trump himself, which is highly unlikely. The resolution next goes to the Senate.

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Mr. Trump believes in the power of tariffs to force U.S. trade partners to the negotiating table. But lawmakers are facing unrest back home from businesses caught in the trade wars and constituents navigating pocketbook issues and high prices.

“Today’s vote is simple, very simple: Will you vote to lower the cost of living for the American family or will you keep prices high out of loyalty to one person — Donald J. Trump?” said Rep. Gregory Meeks of New York, the top Democrat on the House Foreign Affairs Committee, who authored the resolution.