You should watch:

Suddenly Human

This was episode number 4 of season 4.

The following characters appeared in this episode:

(voice) (uncredited) Enterprise Computer
Admiral Connaught Rossa
Captain Endar
Captain Jean-Luc Picard
Counselor Deanna Troi
Commander Wiliam T Riker
Doctor Beverly Crusher
Ensign Wesley Crusher
Jono
Lieutenant Worf
Lt Commander Data
Lt Commander Geordi La Forge