To be married for 15 years like Mariska Hargitay and Peter Hermann have you need to put in a lot of work — but you also have to have a bit of a sense of humor!

The Hollywood couple recently sat down with People in order to reveal just what is the key to being together close to 20 years. “I never thought I would have this much laughter in my life,” the Younger actor, 51, told the outlet. “Not just actual laughter, but also the way that Mariska is just the embodiment of laughter — of joy.”

Mariska Hargitay Peter Hermann
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“It’s not that we don’t fight,” the Law & Order: SVU actress, 55, added. “It’s the way we find our way back to each other,” Peter chimed in with. “It’s this fantastically, wonderfully ridiculous way that we can swing back and forth any number of times in any given day. But fundamentally we know we have the same destination.”

“We know where we’re headed, and it’s good. And we know we’ll get there together,” the United 93 star explained. The happy pair share three children — sons August, 12, and Andrew, 7, and adopted daughter, Amaya, 8. The couple met on set, when Peter guest-starred on SVU in 2002. This isn’t the first time that the couple has opened up about their love and their family — Mariska once revealed just how much she is all about her loved ones, especially her kids.

“The thing that’s made me a better parent is my kids. Because they taught me to really listen,” the popular TV star said. “My husband is my North Star, and my kids are my teachers. Peter and I, we’re so different that it’s been amazing how we complement each other. He knows everything I don’t.”

Mariska Hargitay Peter Hermann
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“The beauty is that families are made in so many different ways, and that was my reality as a child. Growing up, my family was made in such an interesting and unique way, and now I have that with my own family, and so I understand it. It’s been amazing,” Mariska said.

It’s always great to see a happy family!