  We demonstrate that the current-voltage (I-V) characteristics of resistively
and capacitively shunted Josephson junctions (RCSJs) hosting localized subgap
Majorana states provides a phase sensitive method for their detection. The I-V
characteristics of such RCSJs, in contrast to their resistively shunted
counterparts, exhibit subharmonic odd Shapiro steps; such steps occur even in
the absence of any $2\pi$ periodic terms in the current-phase relation of these
junctions. These steps, owing to their subharmonic nature, exhibit
qualitatively different properties compared to harmonic odd steps of
conventional junctions. In addition, the RCSJs hosting Majorana bound states
also display an additional sequence of steps in the devil staircase structure
seen in their I-V characteristics; such sequence of steps make their I-V
characteristics qualitatively distinct from that of their conventional
counterparts. A similar study for RCSJs with graphene superconducting junctions
hosting Dirac-like quasiparticles reveals that the Shapiro step width in their
I-V curves bears a signature of the transmission resonance phenomenon of their
underlying Dirac quasiparticles; consequently, these step widths exhibit a
$\pi$ periodic oscillatory behavior with variation of the junction barrier
potential. We discuss experiments which can test our theory.
