Officials of the Nigeria Customs Service (NCS) impounded the vehicle in January after discovering that the documents used in clearing it were forged.
There have been allegations that the row of the senate with Hameed Ali, comptroller-general of customs, is as a result of the action of the agency.
Dino Melaye, senator representing Kogi west, had earlier appeared before the committee over the issue of his certificate.
Melaye was accused of not graduating from Ahmadu Bello University (ABU), Zaria, and the panel summoned him alongside the vice-chancellor of ABU.
Saraki, who denied the allegations levelled against him, told the committee that he decided to honour the invitation as a sign of respect for the constitution.
“As the president of the 8th senate and senator from Kwara central, I am proud of the senate as an institution and its constitutional role to represent the interests of the Nigerian people,” he said.
“Further, I am proud to honour the senate rule book that guides our conduct and activities, which is why today I am presenting myself to the committee today.
“I am here in person because I believe that what you are doing will help strengthen this institution.
“The institution must continue to be strengthened to carry out its mandate, rather than strengthening individuals.
“We must find ways to guard the institution and ourselves against those who wish to tarnish the institution and individual’s reputation because of five minutes of fame – they try to bring anyone else down.”
When asked if he had imported the SUV that is the subject of the investigation, Saraki said: “I did not import any vehicle. I did not ask anybody to import any vehicle on my behalf.”