Detective Joe Velasco is officially saying goodbye to the 16th precinct. Spoilers for Law & Order: SVU ahead. Actor Octavio Pisano departed Law & Order: Special Victims Unit on Thursday, October 9, after five years on the NBC show. Details about why Pisano left the show have yet to be revealed. The episode, titled "A Vicious Circle," showed Velasco making his decision to leave SVU and work undercover for the Drug Enforcement Administration (DEA) - a choice that's been building up since the season 27 premiere last month. The September premiere ended with Velasco getting into an unmarked car on his way home from work, confusing viewers. The second episode kicked off with Velasco confronting Detective Olivia Benson (Mariska Hargitay) about the encounter, revealing that the DEA approached him about an undercover position. Which 'Law and Order: SVU' Stars Are - And Aren't - Returning for Season 27 Things came to a head during Thursday's episode when Velsaco was called for a meeting at the new Chief Kathryn Tynan's (Noma Dumezweni) office. The DEA was present, offering Velasco an undercover job in San Diego. Velasco then spoke with Benson about Chief Tynan and the DEA's offer, explaining that he felt like he needed to take the role. With Detective Odafin "Fin" Tutuola (Ice-T) recovering from being shot during the season premiere, Velasco was hesitant to leave. "I'm here because I think it's the place that I can do the most good," Benson told Velasco. "You need to be where you can do the most good." Virginia Sherwood/NBC Before leaving New York City for California, Velasco visited Fin and thanked him for everything. "Velasco, you don't have to say a word," Fin said in the heartfelt moment. "I already know." News broke in May that Juliana Martinez, who played Detective Kate Silva, and Pisano would be leaving the show following its 26th season. NBC Introduces Alternate 'Law and Order SVU' Ending - How Do They Differ? The season 26 finale, which aired in that same month, showed Pisano's character receiving a promotion to Detective Second Grade and celebrating with the entire cast. At the time, it seemed like a sendoff for the fan favorite. However, it was later confirmed that Pisano would return for the start of season 27 to wrap up his character's story line. "For all of you wondering, Yes, VELASCO is back for a bit, he's not done just yet! Watch and find out!" Pisano shared via Instagram late last month. "Congrats to the CAST and CREW! and of course the FANS! without you there's no show! I'm so grateful to have been a part of this legacy for the past few years! Here's to many more!" Fellow SVU cast member Aimé Donna Kelly stayed tight-lipped when discussing the cast shakeups in an exclusive interview with Us Weekly last month, but she did share that there will be some challenges for Benson as the episodes continue. "If your leader is going through some stuff, then the rest of us definitely are. We're going to support her," Kelly told Us ahead of the premiere, which included a major character death. "In the episode tonight, some stuff goes down, and it's very exciting. That's why I'm so nervous to see it." Law & Order: SVU airs new episodes on NBC Thursdays at 9 p.m. ET.