Rapper Vanilla Ice . avoided prosecution in Florida on Thursday after agreeing to a . plea deal over a grand theft charge from February, his attorney said. 'He's pretty thrilled. He's never really been in trouble . like this before so obviously he was nervous,' said defense . lawyer Bradford Cohen of Fort Lauderdale. The rapper, whose real name is Robert Van Winkle, appeared . in Palm Beach County Court on Thursday. He agreed to . perform 100 hours of community service and pay $1,333 to the . estate of a neighbor in Lantana for allegedly stealing furniture . and pool equipment from the $1million home, according to the pre-trial intervention . deal. Vanilla Ice, whose real name is Robert Van Winkle, appeared in Palm Beach County Court on Thursday and agreed to a plea deal over a grand theft charge. He agreed to perform 100 hours of community service and pay $1,333 to the estate of a neighbor for allegedly stealing from the $1million home . Police say Van Winkle stole items from this house in Lantana, Florida, while he was filming his reality show inside an adjacent home . Van Winkle also must acknowledge that he is guilty of the . crime, but the charge will be dismissed and he will have no . criminal record upon completing terms of the agreement, Cohen . said. The grand theft charge was a third-degree felony which . carried a maximum penalty of five years in prison and a $5,000 . fine. The items that were taken from the house were returned to their owner. The 47-year-old musician-turned-reality-television-star, who . famously rapped that 'anything less than the best is a felony' in his 1990s hit song 'Ice Ice Baby,' said at the time of his . arrest in February that the situation had been 'overblown'. The rapper's home currently is under construction and also . is the site of his latest venture, a reality TV show for the DIY . Network called The Vanilla Ice Project. While there were items in the home (pictured above) at the time of the alleged theft, no one else was in the property . Authorities believe Van Winkle stole furniture, a pool heater (pictured above), bicycles and other items from the home . Cohen said Van Winkle is happy to have the charge resolved . before the kickoff of season five of his television series. Van Winkle, who is also a general contractor, regularly . performs community service, his lawyer said, including a project . two weeks ago to build a swimming pool for a quadriplegic . firefighter. His community service under the plea deal must take place at . a Habitat for Humanity project in Palm Beach County. At the time of his arrest, Van Winkle also was accused of . burglary although prosecutors never formally filed that charge. Van Winkle all along said the incident was a . misunderstanding. Cohen said most of the items he was accused of . stealing had been left outside the home by squatters who had . been vandalizing the unoccupied property. In his DIY Network show, The Vanilla Ice Project, Van Winkle and a crew renovate and flip homes . Van Winkle (center) was released from the Palm Beach County Jail on a $6,000 bond after his arrest in February . Van Winkle has been married to wife Laura since 1997 and they have two daughters together. This is not his first brush with the law; in 1991, he was arrested and pleaded no contest for threatening a homeless man with a gun. A decade later, he was arrested by Florida police and spent a night in jail for assaulting his wife as they argued while driving. He admitted that he had pulled her hair, but said it was to stop her from jumping out of their truck, and was sentenced to probation and attended family therapy sessions. In 2008, Van Winkle was arrested for allegedly assaulting his wife again - but was released the following day after she said he had only pushed her. The case was dropped two weeks later.
He agreed to a plea deal on Thursday where he said he'd perform 100 hours of community service and pay $1,333 to the estate of a neighbor.
His community service must take place at a Habitat for Humanity project.
Vanilla Ice - real name Robert Van Winkle - was arrested in Lantana, Florida in February on grand theft charges.
Cops claimed he took furniture, a pool heater and bicycles from vacant home near a property he was working on for reality show 'The Vanilla Ice Project'
The items were later found inside his own house, according to authorities.