This "mandate" for contraception was not voted on by the Congress. It was not in the original ACA. It was added after the fact by Sebilius on orders from Obama (Imperial presidency). The real law in question here is the RFRA of 1993. Who voted to confirm that people had a "right" to not have to participate in government programs if it violated their faith? Here is a partial list;
Bill Clinton signed it into law.
Howard McKeon who introduced the bill.
Dean Gallo who co-introduced the bill.
Nancy Pelosi who voted YES for the bill.
Harry Reid who voted YES for the bill.