The original work done on TEXTOR on ion cyclotron resonance heating of the plasma is reviewed. After a brief introduction outlining the principles, the radio-frequency (rf) system is described, with its substantial evolution during time. Then, the different physics results are reviewed. Ion cyclotron heating has been performed in a large number of scenarios and under a wide range of conditions. Aside from the various minority or mode-conversion scenarios, the interaction with beam ions and the possibility of controlling fast-ion diffusion with rf have been deeply investigated. Both the interaction with the wall or edge plasma and the impact on improved core confinement were studied in detail. Pioneering work was done to demonstrate efficient heating with unshielded antennas and plasma production in a tokamak by rf alone for plasma startup assistance or wall conditioning.