"We have the utmost respect for you," Sen. Joe Machin, a centrist Democrat from West Virginia, told Yellen.
Sen. Bob Corker, a Tennessee Republican, told Yellen that he appreciated her "candor and transparency," and thanked her for giving him the same answers during the hearing as she had during a meeting with him in his office.
The Fed's policies, which include three rounds of bond purchases, are credited with helping boost economic growth and lower unemployment. But they have also driven up stock prices and stoked worries about a greater risk of inflation and asset bubbles.
During the hearing, Yellen was pressed by Republicans to specify when the central bank might begin scaling back its $85 billion-per-month in bond purchases.
Yellen didn't bite. She said Fed policymakers assess the risks and benefits of the bond purchase program each time they meet.
"The committee is looking for ... signs of growth that are strong enough to promote continued progress" in the labour market. She said "there is no set time that we will decide to reduce the pace of our purchases."
Various Republicans expressed their concerns that the Fed's massive bond purchases, which have pushed the central bank's balance sheet to a record level of $3.8 trillion, have inflated stock prices and real estate.
"I think the economy has gotten used to the sugar you have put out there and I just worry that we are on a sugar high. That is a very dangerous thing," said Sen. Mike Johanns, a Nebraska Republican.
Obama nomiates Yellen as new Fed head:
She also noted that the economy is still performing far below its potential and inflation is running below the Fed's 2 per cent target.
"If we want to get back to business as usual and a normal monetary policy, we need to do that by getting the economy back to normal and that is what I hope (the Fed's) policy will accomplish," Yellen said.
Many economists believe the Fed will keep the purchase level unchanged at its upcoming meeting in December. Many say the Fed may not begin to scale back the program until its March meeting. That would allow the Fed more time to see if the solid job gains reported in the past three months continue.
Yellen's remarks seemed to confirm those forecasts.
"This is a strong signal that the Fed is not going to reduce its support for the economy any time soon," said Sung Won Sohn, an economics professor at the Martin Smith School of Business at California State University.