You should watch:

The Icarus Factor

This was episode number 14 of season 2.

The following characters appeared in this episode:

(as Mitchell Ryan)Kyle Riker

(uncredited)Klingon Warrior

(voice) (uncredited) Enterprise Computer

Captain Jean-Luc Picard

Chief Miles O'Brien

Counselor Deanna Troi

Commander Wiliam T Riker

Doctor Pulaski

Ensign Herbert

Klingon Warrior

Lieutenant Geordi La Forge

Lieutenant Worf

Lt Commander Data

Wesley Crusher