The first stage of the Bill was passed by a majority of 55 in November 2024 after being submitted by Labour MP Kim Leadbeater.
Speaking ahead of today's vote, Leadbeater said she was confident it would be approved.
‘There might be some small movement in the middle, some people might change their mind or will change their mind the other way,' she said.
‘But fundamentally, I do not anticipate that that majority would be heavily eroded.'
If passed, the legislation will pass to the House of Lords for further scrutiny.
The legislation has split opinion.
Over 3,400 doctors and nurses wrote to the PM calling for the legislation to be scrapped ahead of the November vote.
Healthcare workers were given the right to opt out of assisted dying following a debate in Parliament in May after a call from the Royal College of Physicians.
Assisted dying legislation is also making its way through Government in Scotland.
The Isle of Man became the first place in the British Isles to approve legislation in March.