You should watch:

Homeward

This was episode number 13 of season 7.

The following characters appeared in this episode:

(uncredited) Ensign Jae
(as Susan Christy) Tarrana
(voice) Enterprise Computer
Captain Jean-Luc Picard
Counselor Deanna Troi
Commander Wiliam T Riker
Dobara
Doctor Beverly Crusher
Dr Nikolai Rozhenko
Kateras
Lieutenant Worf
Lt Commander Data
Lt Commander Geordi La Forge
Vorin