Mariska Hargitayhas spent 23 seasons playing Olivia Benson on “Law & Order: Special Victims Unit.”

As a result, Hargitay launched theJoyful Heart Foundationin 2004.

“Joyful Heart is about the courage and power of the human spirit,” she toldTV Guide.

Mariska Hargitay smiles

And Hargitay knows first-hand what it is like to heal from a trauma.

“I’d wake up crying,” she toldPeople.

“I went through months of severe depression.

Mariska Hargitay

I knew the pain had to be exorcised.”

“In some ways, being the daughter of a Hollywood icon has been a burden.

I used to hate constant references to my mom because I wanted to be known for myself.

Losing my mother at such a young age is the scar of my soul,” she toldCloser Weekly.

One thing that has made Hargitay feel more of a connection to her mother is becoming a mom herself.

She andhusbandPeter Hermann share three children, sons August and Andrew and daughter Amaya (viaCountry Living).

“Being a wife and mother is my life, and that gives me the most joy.

I understand [my mother] in a new way that gives me peace.