Ice-T Reveals Daughter Chanel, 8, Learned to Walk on His Tour Bus: 'Small Aisles!' (Exclusive)

The rapper and actor, who spoke to PEOPLE for his National Iced Tea Day campaign with Raising Cane’s, shares daughter Chanel, 8, with wife Coco Austin

With season 25 of Law & Order: SVU complete, Ice-T is heading out on tour with his band Body Count, and he says life on the road has always been a family affair with his younger daughter Chanel.

“She learned how to walk on the tour bus,” Ice-T tells PEOPLE while discussing his partnership with Raising Cane’s for National Iced Tea Day on June 10. “It's those small aisles, and she would touch the sides, and we would send her down the aisle.”

Ice-T shares daughter Chanel with wife Coco Austin, and he’s also the father of two grown children: daughter LeTesha Marrow, 48, and son Tracy Marrow Jr., 32, who is also a member of Body Count.

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Related: Ice-T Poses in Rare Photo with All Three Kids as They Enjoy Dinner Together: 'The Ice Family'

And, while Chanel, 8, may not be ready to rap just yet, Ice-T says she “loves touring.”

“She's been coming on stage ever since she was little,” he says. “She's looking forward to it. I bring her out during a song called 'Talk S—, Get Shot'.”

Ice-T admits with a laugh that, no, Chanel doesn’t know the words, and he turns her entrance into a whole moment with the crowd.

“I got a gag where I tell the audience. But she comes out. And my other son is out there with us. So yeah, it's a family thing," he says.

Related: Ice-T Reflects on Importance of 'How Long You're Doing Well' on 66th Birthday: 'Every Day Is Appreciated'

In addition to touring, Chanel is also a fan of Raising Cane’s, especially considering that “most kids’ diet is chicken,” says Ice-T.

“It falls right within her wheelhouse and what she eats. She likes chicken fingers,” he says. “She likes vodka pasta — the pink pasta with vodka sauce. She likes that. She eats steak. She was always very carnivorous. I think it's harder to get kids to eat vegetables than meat.”

Back in January, PEOPLE spoke to Ice-T and Austin at the 25th-anniversary celebration of Law & Order: SVU, where the couple revealed that Chanel “just got an agent” and wants to follow in her father’s acting footsteps.

"Chanel wanted to be here tonight. She's mad at us right now," Ice-T admitted. "She looked at the babysitter like, 'Really?! Really?'"

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