Schedule and live TV coverage of House and Senate floor proceedings is on C-SPAN.
In addition, click here for summaries and videos of recent sessions of the U.S. House of Representatives. Click here for current schedule of House floor proceedings.
"A substantially verbatim account" of all remarks made on the House and Senate floors, dating back to 2001/2002 is found online in the Congressional Record (at the Library of Congress's Thomas website), arranged either by date or by member name.
Videos of each House and Senate member's time on the respective floors of Congress in the current session, arranged by amount of time that member appeared, are found here at the C-SPAN site.