"Darmok" Star Trek: The Next Generation episode Episode no. Season 5 Episode 2 Directed by Winrich Kolbe Story by Joe Menosky Phillip LaZebnik Teleplay by Joe Menosky Featured music Jay Chattaway Cinematography by Marvin Rush Production code 202 Original air date September 30, 1991 (1991-09-30) Guest appearance(s) Richard Allen - Tamarian First Officer Colm Meaney - Miles O'Brien Paul Winfield - Dathon Ashley Judd - Robin Lefler Majel Barrett - Computer Voice