After the briefing, Representative Adam Smith, the highest-ranking Democrat on the House Armed Services Committee, released a joint statement with Himes calling for the video to be released publicly.
"The briefing left us with more questions than answers, and Congress must continue to investigate this matter and conduct oversight," they said.
Republican Senator Tom Cotton, chair of the Senate Intelligence Committee, said Adm Bradley and Hegseth "did exactly what we would expect them to do".
"I saw two survivors trying to flip a boat loaded with drugs bound to the United States back over so they could stay in the fight," Cotton said.
Republican House Representative Rick Crawford also defended the strikes and said there was "no doubt in my mind" that they were done in a way that was professional.
Senator Jack Reed, a Democrat, said in a statement he was "disturbed" by what he saw, adding that his party would continue to investigate the incident.
The revelation there were two strikes when the first left survivors has raised new questions over the legality of the administration's deadly ongoing campaign against boats, due to what the rules of conflict say about targeting wounded combatants.
US President Donald Trump has said he has "no problem" with video of the second strike being made public. Footage of the first strike has already been released.
During the incident, two survivors of the first strike tried to climb back onto the boat before the vessel was hit a second time, US media including CBS reported. A source said the pair appeared to be trying to salvage drugs.
Adm Bradley was also expected to tell the high-ranking US lawmakers on Thursday that the survivors were a legitimate target because their boat was still thought to contain drugs, according to a US official who spoke to the Reuters news agency.