Ice-T gave fellow “Law & Order: SVU” star Danny Pino a pep talk when Pino replaced show favorite Christopher Meloni, who left ­after season 12 ended in 2011 reports The New York Post.

And he likened their impending partnership in TV to pulling capers.

“I said we don’t have to like each other to rob this bank,” the rapper related at the Paley Center for Media this past week. “All we have to do is know that you know how to drive . . . you know how to watch out…after we rob a few banks, we’ll become great friends.”

Asked if the show’s heavy plotlines ever get to him, Ice T mused, “There’s craft services [catering on movie and TV sets], so it’s not as bad.”

Mariska Hargitay also appeared at the panel and spoke about her Joyful Heart Foundation.