Are Recurring Payments automatically charged to customer cards?


I'm following up to a question I had here that wasn't receiving any response in over a week -

Once a Recurring Payment Membership is setup and a member has joined will their credit card on file automatically be charged by Stripe on the renewal date? From what I can tell it does not auto bill their card. I have a test member on a one-day recurring membership and a bill was generated for the renewal, but their card was never charged and the bill still says unpaid. Let me know how this is supposed to work. I'm looking for something automated so neither I or the customer have to login and do anything to renew a subscription.