Icarus flies past Earth every 19 years. The last time was in 1997. Often it comes as close as 6.4 Gm (4 million miles). It passed only 600,000 km (not quite twice as far as the Moon) from Earth in 1968.
Icarus is the setting for Arthur C. Clarke's short-story Summertime on Icarus (aka 'Icarus Ascending'), where an astronaut is stranded on the asteroid as it approaches perihelion.
Icarus features in Kim Stanley Robinson's novel The Memory of Whiteness, in which the asteroid is inhabited by a religious cult that worships its close approaches to the Sun.