You should watch:

Second Chances

This was episode number 24 of season 6.

The following characters appeared in this episode:

(as Dr Mae Jemison) Lt Palmer
(uncredited) Ensign Jae
Captain Jean-Luc Picard
Counselor Deanna Troi
Commander Wiliam T Riker/Lt Thomas Riker
Doctor Beverly Crusher
Lieutenant Worf
Lt Commander Data
Lt Commander Geordi La Forge