Whitaker said late last month that the Mueller-led investigation is "close to being completed", although there has been no confirmation of this from the special counsel's office.
The New York Democrat later confirmed that Whitaker will appear on Friday morning.
Republicans, who until recently led the committee, complained on Friday that the hearing was a "dog and pony" show meant to discredit the president.
"Bring your popcorn", he said.
The Senate Judiciary Committee voted on Thursday to recommend that the full Senate confirm Barr as attorney general, which could happen as soon as next week.
"There has been no change in the overall management of the special counsel investigation", Whitaker will say, according to his prepared remarks. But he did not answer directly about whether he had discussed that investigation, run by prosecutors in NY, with Trump, insisting only that the president had never instructed him to take particular actions.
Democrats also inquired about Whitaker's past business dealings.
A number of law enforcement officials, including FBI Director Christopher Wray, have disputed the "witch hunt" label. Mr. Whitaker, you don't run this committee. "The Department of Justice must be such a place".
Michael McCaul, Texas Republican, blasts Trump for ignoring Congress on Khashoggi report
He was a strong critic of the Saudi government. It is unclear if any of the 17 are on trial. His remains have still not been found.
"Congressman, I am not here to be a puppet to repeat terms and words that you say that I should say", Whitaker told Swalwell Friday. I ask the department to work with the committee to provide them.
Also expected to come up was Whitaker's comment last week that he believed the investigation into potential ties between Russian Federation and the Trump campaign was almost done.
Whitaker said he'd read the memo.
Trump has since nominated William Barr as attorney general.
House of Representatives judiciary committee hearing, adding that he has not taken any action in the probe or interfered "in any way". The committee and Justice Department eventually agreed he would voluntarily appear on February 8.
The retort came after Nadler had chastised Whitaker for evading questions and said that he wanted Whitaker to appear before the committee "in the coming weeks" for a private deposition.
But Republicans objected to the move, arguing that Whitaker had not yet personally given the panel a legitimate reason to be concerned - and that approving a preemptive subpoena would set a bad precedent for the panel.
Democrats demanded he recuse himself, and have called for an investigation into his decision not to recuse despite the recommendation from DOJ ethics officials. Jerry Nadler (D-N.Y.) pressed Whitaker about Mueller's probe.
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"Mr. Attorney General, we are not joking here and your humor is not acceptable", she said.