Ice T stars as Det. Odafin “Fin” Tutuola on NBC’s “Law and Order: Special Victims Unit,” now in its milestone 20th season.

This is his fourth project with executive producer Dick Wolf after the 1997-98 series “Players,” NBC’s “Exiled: A Law & Order Movie” and several memorable guest-starring appearances on Wolf’s gritty cop series “New York Undercover.” He has also appeared as Fin on Wolf’s “Chicago P.D.”

Ice T not only invented gangster rap, he has lived it. He is the original embodiment of L.A. hip-hop and a cultural icon. Through his music, his books (“The Ice Opinion,”...