Final answer:
Bill Clinton's statement regarding his relationship with Monica Lewinsky was legally true based on his definition of 'sexual relations'. The investigation and impeachment by the House of Representatives centered on possible perjury charges.
Step-by-step explanation:
Bill Clinton's statement, 'I have never had sexual relations with that woman' in reference to Monica Lewinsky, was legally true. Clinton's definition of 'sexual relations' was specific to the act of penetrative sex, while others may have had a broader definition. The investigation and subsequent impeachment by the House of Representatives focused on the question of whether Clinton committed perjury by lying under oath about the nature of his relationship with Lewinsky.