Law & Order: Special Victims Unit is one of the most iconic shows on television, so it’s no wonder it’s been on the air since 1999 and isn’t going anywhere anytime soon. Though a lot of characters on the long-running series come and go, Ice-T and Mariska Hargitay have been there since the beginning–the two stopped by Late Night with Seth Meyers last week to talk about their experiences working together for 2 decades.