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The United Nations Earth Summit, where Agenda 21 was signed, reached it's conclusion on the 14th of June 1992 in Rio de Janeiro, Brazil.
The video listed below shows Congresswoman Nancy Pelosi and other congressional leaders a few short months later advocating support of UN Agenda 21 on the House floor.

The following video is from October 2nd, 1992 showing the US House of Representatives passing H.C.Res. 353: A bill expressing the sense of the Congress that the United States should assume a strong leadership role in implementing the decisions made at the Earth Summit by developing a national strategy to implement Agenda Twenty-One and other Earth Summit agreements through domestic policy and foreign policy, by cooperating with all countries to identify and initiate further agreements to protect the global environment, and by supporting and participating in a high-level United Nations Sustainable Development Commission.