We demonstrate that the current-voltage (I-V) characteristics of resistively and capacitively shunted Josephson junctions (RCSJ) 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. 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 Diraclike 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 π periodic oscillatory behavior with variation of the junction barrier potential. We discuss experiments which can test our theory.