Article 75 says that the Council of Ministers shall be collectively responsible to Loksabha. In other words, Lok Sabha can remove them by passing a noconfidence motion. But the word "no confidence motion" itself is not given in Constitution itself, it comes from Rule 198 of Lok Sabha Rules. Rajya Sabha cannot pass or remove council of ministers by passing noconfidence motion. No confidence motion can be introduced, only in Lok Sabha.