You should watch:

A Matter of Time

This was episode number 9 of season 5.

The following characters appeared in this episode:

(uncredited) Ensign Jae
Captain Jean-Luc Picard
Counselor Deanna Troi
Commander Wiliam T Riker
Doctor Beverly Crusher
Dr Hal Moseley
Ensign
Lieutenant Worf
Lt Commander Data
Lt Commander Geordi La Forge
Rasmussen
Scientist