The actor arrived at the RS at around 10.57 am.
There were chaotic scenes outside the Parliament with camerapersons rushing towards Rekha's vehicle as she arrived at the main entrance.
Making an exception, Rekha was taken to the Parliament via gate number 4 which is used by the Prime Minister as gate number 12 was crowded by fans to catch a glimpse of the actor.
Minister of State for Parliamentary Affairs Rajiv Shukla accompanied her as she met Rajya Sabha Chairman and Vice President Hamid Ansari. She was also taken to the Prime Minister Office to meet Manmohan Singh.
The enigmatic Hindi cinema icon was seen wearing a golden-brown saree on her first day in the House and members thumped desks to greet her as her name was called for taking oath.
"I Rekha Ganesan having been nominated as member of Council of States do swear in the name of God that I will bear true faith and allegiance to the Constitution of India as by law established, " she said while taking her oath in English.
She walked up to Ansari after taking the oath and greeted him with folded hands.
Ansari greeted her by saying 'welcome'.
The 'Silsila' actor greeted Prime Minister Manmohan Singh and Leader of the Opposition Arun Jaitley and other leaders of the House after signing the member register.
57-year-old Rekha was then seen sitting at her allotted seat number 99 next to Anu Aga.
Telugu superstar Chiranjeevi reportedly greeted the yesteryear actor before the proceedings of the House commenced on Tuesday.
Former Railway Minister and Rashtriya Janata Dal (RJD) chief Lalu Prasad Yadav told reporters: "Rekha is a very good actor. It was a good nomination. I am welcoming her."
President Pratibha Patil approved the names of actor Rekha and cricket icon Tendulkar for nominated seats in the Rajya Sabha, the upper house of the Indian Parliament.
Both Rekha and Tendulkar accepted their nominations.
According to reports, Indian batting maestro Sachin Tendulkar will take oath on May 16.