Lautenberg died from viral pneumonia at age 89 on Monday.
A funeral service for Lautenberg will be held on Wednesday in New York. Reid said Lautenberg would be buried at Arlington Cemetery on Friday.
Lautenberg was the last World War II veteran serving in the U.S. Senate and held the record for the number of votes cast by a New Jersey Senator with more than 9,000. Some of his signature legislative issues were gun control, G.I. benefits and chemical safety.
Later Tuesday, the House also passed S.Con.Res. 18 to allow for the use of the catafalque in exhibition hall of the Capitol Visitors' Center for the memorial service.
This article was updated at 2:40 p.m. after the House passed the resolution.