Mariska Hargitay had the ultimate mother-daughter weekend when she took her 7-year-old daughter, Amaya, to Taylor Swift's Reputation World Tour concert in New Jersey on Saturday. The "Law & Order: SVU" star only had the most positive things to say about the pop star after the show.

Hargitay spoke exclusively with ET's Keltie Knight at the Joyful Revolution Gala at Cipriani Wall Street in New York City on Monday, and she raved about the concert.

"It was so much fun, it was so good," the 54-year-old actress exclaimed. "Taylor's concerts are like magic; they're like Pixar. They're beautifully done, the sets are amazing, the music is amazing, the dancing's amazing, the lighting and effects are incredible -- but I think that she's incredibly welcoming to her audience and what she does is she makes everybody feel like they're special. And she says that -- she celebrates 'no two shows are alike and you're incredibly important to me.' I thought that's really touching and emotional and I think it's an important thing for all of us to remember in life. Everybody wants to feel special."

The actress, who became friends with Swift after famously appearing in her "Bad Blood" music video in 2014, shared how much she loves seeing her friend perform live.

"I just love seeing somebody fully in her power and fully living her truth and being exactly who she is, and unapologetically wearing it and being comfortable and strong and affirmative and expansive -- and I sort of feel like it's, I wish everybody in life could experience that feeling of being their authentic self and seeing how powerful that is.

" she said.

As for taking her daughter to the concert, Hargitay gushed that it was an incredible experience for her little girl. "I'm telling you, Taylor really does it one person at a time," Hargitay shared. "Amaya felt personally celebrated at that party, at the concert."

Hargitay said her daughter was "blown away" by the show. "She was saying, 'She came over to me.' She was really thrilled. She couldn't believe how 'special' she was.

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