(Emphasis mine)
Criminal Contempt of Congress
The criminal contempt of Congress statute, enacted in 1857 and only slightly modified since, makes the failure to comply with a duly issued congressional subpoena a criminal offense. The statute, now codified under 2 U.S.C. § 192, provides that any person who “willfully” fails to comply with a properly issued committee subpoena for testimony or documents is guilty of a misdemeanor, punishable by a substantial fine and imprisonment for up to one year.
The criminal contempt statute outlines the process by which the House or Senate may refer the non-compliant witness to the Department of Justice (DOJ) for criminal prosecution. Under 2 U.S.C. § 194, once a committee reports the failure to comply with a subpoena to its parent body, the President of the Senate or the Speaker of the House is directed to “certify[] the statement of facts . . . to the appropriate United States attorney, whose duty it shall be to bring the matter before the grand jury for its action.”
26 The statute does not expressly require approval of the contempt citation by the committee’s parent body, but both congressional practice and judicial decisions suggest that approval may be necessary.
27 Although approval of a criminal contempt citation under § 194 appears to impose a mandatory duty on the U.S. Attorney to submit the violation to a grand jury, the executive branch has repeatedly asserted that it retains the discretion to determine whether to do so.
https://crsreports.congress.gov/product/pdf/R/R45653
So, no there is no mention in the contempt process of Congress or the Senate sending the Sergeant-at-Arms to the subpoena scoffers' home to place them under arrest and bring them to the Jail at the Capitol.
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