"That sort of happened by choice," she told us. "Look, the character has taught me so much and obviously changed my life and…was the impetus for The Joyful Heart Foundation and

"That sort of happened by choice," she told us. "Look, the character has taught me so much and obviously changed my life and…was the impetus for The Joyful Heart Foundation and has completely taken my life in a different direction, an extremely fulfilling one…No, it's been nothing but a privilege to play her."

Click play on the video above to hear more from Hargitay, Ice, Brooke Shields, Raul Esparza, Kelli Giddish and Peter Scanavino.