Impeachment is up to House to define and then the Senate to convict. Any crime or strong suspicion of taking bribes or other improper conduct could trigger impeachment. Most justices have the sense to resign when facing strong evidence.
Yes; impeachment is the only way a justice can be removed involuntarily.
Yes, there has been one Supreme Court Justice who was removed from office: Justice Samuel Chase. He was impeached by the House of Representatives in 1804 primarily for political reasons and was tried by the Senate in 1805 but ultimately acquitted, allowing him to remain in his position. No other Supreme Court Justice has been removed from office since then.
Recall
Until they retire, die, or are removed from office by Congress.
If a Supreme Court justice commits a crime, they can be impeached by the House of Representatives and tried by the Senate. If found guilty, they can be removed from office.
According to Article III of the US Constitution, federal judges "hold their offices during good behaviour," meaning they are appointed for life unless they commit an impeachable offense and are removed from office.
They will be removed from office
No one within the federal judiciary has authority to remove a Supreme Court justice from office. The Constitution vested Congress with the power of impeachment, which is the only way a Supreme Court justice may be forcibly removed. For more information, see Related Questions, below.
John G. Roberts, Jr. is Chief Justice of the United States in 2011. He succeeded William H. Rehnquist in this position in 2005, and will remain Chief Justice until he dies, resigns, retires or (unlikely) is impeached and removed from office.
Department of Justice
Two. Edward "Gough" Whitlam was removed from office in November 1975. Kevin Rudd was removed from office in June 2010.
No, Johnson was not removed from office by only one vote; he was acquitted.