You should watch:

Qpid

This was episode number 20 of season 4.

The following characters appeared in this episode:

(voice) (uncredited) Enterprise Computer

Captain Jean-Luc Picard

Counselor Deanna Troi

Commander Wiliam T Riker

Doctor Beverly Crusher

Lieutenant Worf

Lt Commander Data

Lt Commander Geordi La Forge

Q

Servant

Sir Guy of Gisbourne

Vash