You should watch:

New Ground

This was episode number 10 of season 5.

The following characters appeared in this episode:

(uncredited) Ensign Jae
(voice) Enterprise Computer
Alexander Rozhenko
Captain Jean-Luc Picard
Counselor Deanna Troi
Commander Wiliam T Riker
Doctor Beverly Crusher
Dr Ja'Dar
Ensign
Helena Rozhenko
Lieutenant Worf
Lt Commander Data
Lt Commander Geordi La Forge
Ms. Kyle