Mariska Hargitay hugs Law & Order: SVU castmate Peter Gallagher while they film ...

Law And Order: Special Victims Unit is on cusp of starting its 21st season.

And the show's dedicated detectives were hard at work on set in NYC on Sunday.

Leading lady Mariska Hargitay was seen alongside Peter Gallagher, Kelly Giddish and Ice-T.

Close cast: Law & Order: SVU's Mariska Hargitay was seen hugging co-star Peter Gallagher on set Monday

Close cast: Law & Order: SVU's Mariska Hargitay was seen hugging co-star Peter Gallagher on set Monday

Mariska was in full character as Lieutenant Olivia Benson, looking fierce in a green blazer and black ensemble below. Meanwhile Peter was suited up as Deputy Chief William Dodds.

Between shots the pair broke character to smile and share a hug. They linked arms before walking back to their marks to pick up the shoot.

Kelly Giddish and Ice-T were equally as sharp in their detective attire.

SVU is a favorite of television crime buffs. 

The NBC series became the longest-running live-action series in primetime history when it was renewed for its 21st season back in March.

SVU was previously tied with its predecessor, the original Law & Order, as well as the beloved Western Gunsmoke for longest running live action series.

Squad goals: The leading lady was followed by squadmates Kelly Giddish and Ice-T

Squad goals: The leading lady was followed by squadmates Kelly Giddish and Ice-T

Ready or not: Mariska was in full character as Lieutenant Olivia Benson, looking fierce in a green blazer and black ensemble below

Ready or not: Mariska was in full character as Lieutenant Olivia Benson, looking fierce in a green blazer and black ensemble below

Well suited! Peter was suited up as Deputy Chief William Dodds

Well suited! Peter was suited up as Deputy Chief William Dodds

Affectionate: Between shots the pair broke character to smile and share a hug

Arm in arm: They linked arms before walking back to their marks to pick up the shoot

Affectionate: Between shots the pair broke character to smile and share a hug, later seen arm in arm

On the job: Kelly Giddish and Ice-T were equally as sharp in their detective attire

On the job: Kelly Giddish and Ice-T were equally as sharp in their detective attire

The record for all primetime - live action and animated - is held by Fox's The Simpsons, currently in its 30th run.

Law & Order: SVU debuted in 1999 as a spin-off of producer Dick Wolf's long-running crime procedural Law & Order.

Throughout its two decade run the show has focused on a group of dedicated detectives who are charged with investigating sexual assault, child abuse and domestic violence in NYC.

Going strong: The NBC series became the longest-running live-action series in primetime history when it was renewed for its 21st season back in March

Going strong: The NBC series became the longest-running live-action series in primetime history when it was renewed for its 21st season back in March

In good company: SVU was previously tied with its predecessor, the original Law & Order, as well as the beloved Western Gunsmoke for longest running live action series

In good company: SVU was previously tied with its predecessor, the original Law & Order, as well as

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