Farscape

Season 4 Episode 13:

Terra Firma

Crichton has arrived home, on Earth. Even though the Moya crew relaxes, on Earth and are treated as VIPs, Crichton can't seem to adjust to life on Earth. After all his adventures, can he still call Earth his home?
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About Farscape:

Thrown into a distant part of the universe, an Earth astronaut finds himself part of a fugitive alien starship crew.