BRASÍLIA—Brazil’s Supreme Court said Tuesday it ordered the arrest of the secretary in charge of public security in the capital at the time of Sunday’s riots.

Television images on Tuesday showed police emerging from the Brasília home of Anderson Torres, who was fired Sunday as public security secretary in Brasília’s federal district after rioters stormed the presidential palace, Congress and the Supreme Court in what President Luiz Inácio Lula da Silva had described as an attempted coup.

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