Star Trek: The Next Generation

Season 6 Episode 10:

Chain of Command: Part 1

Picard is replaced as captain of the Enterprise so he, Lt. Worf and Dr. Crusher go on a secret mission into Cardassian space. Meanwhile, his replacement, Capt. Jellico, meets his new command with some resistance from the crew.
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About Star Trek: The Next Generation:

Set decades after Captain James T. Kirk's 5-year mission, a new generation of Starfleet officers in a new Enterprise set off on their own mission to go where no one has gone before.