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About one-third of the Senators in Congress are elected every two years. This means the 33 are up for election at any one time.
You get to vote for both. But generally not in the same election. Individual senators are up for election every third 2 year cycle of the House of Representatives (thus, every six years). Roughly one third of the senate is up for election every two years. As far as I know, all states stagger their two senate election cycles.