Brunson's appearance at the Senate chamber on Tuesday marked one year since he was released from his two-year imprisonment in Turkey over false accusations he was linked to a failed coup in the country.
Before Brunson's opening prayer, he thanked the senators who worked hard to secure his release.
"I'm standing here today because so many of you fought for me and I am deeply grateful," he said.
"In a time of many divides, you were unified fighting for my release. Thank you."
In his prayer, Brunson thanked God for watching over the Unites States "in various times of peace, prosperity, turmoil, and war".
He continued: "I pray that you grant to the senators of the United States the spirit of wisdom, the fear of the Lord, and the courage to act by the counsel of the Lord in all matters great and small.
"May they have your perspective on all things. May your kingdom come and your will be done, here in our nation as it is in heaven in and through these senators.
"Bless their families and their health. Give them your peace. O God fill this place with your presence and unite us as one nation under your leadership -- Indivisible, with liberty and justice for all. I pray in the name of Jesus. Amen."
The 51 year old pastor from North Carolina also prayed for Mr Donald Trump last week as he was presented the Cost of Discipleship Award at the Values Voter Summit in Washington, D.C.