Impeachment does not mean removal from office. It’s basically an indictment (though not a criminal indictment), a way of saying “we find (so and so) to have committed (such and such) and now move to punish (such and such act)” . For the office of President of the United States the House of Representatives must first vote on impeachment. If the House does vote for impeachment it then move to the Senate to vote on removal from office.
So far in US history only two presidents (Andrew Jackson and Bill Clinton) have been impeached, and none have been removed from office. Impeachment proceedings were started for Richard Nixon, but he resigned from office before impeachment could be voted on.
Unfortunately, these things generally come down to partisanship. With Clinton, for example, the Republican-controlled House voted for impeachment, but the Democratic-controlled Senate voted against removal. Likewise, with Donald Trump, if proceedings started today, it’s extremely likely that the Democratic-controlled House would vote for impeachment, but extremely unlikely that the Republican-controlled Senate would vote for removal.