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DeForest Kelley appeared as Dr. McCoy in Star Trek: The Next Generation: Encounter at Farpoint (#1.1).
Leonard Nimoy appeared as Spock in Star Trek: The Next Generation: Unification I (#5.7) and Star Trek: The Next Generation: Unification II (#5.8). His appearance was tied to the release of the film Star Trek VI: The Undiscovered Country.
Mark Lenard appeared as Sarek in Star Trek: The Next Generation: Sarek (#3.23) and Star Trek: The Next Generation: Unification I (#5.7).
James Doohan appeared as Scotty in Star Trek: The Next Generation: Relics (#6.4).
Majel Barrett appeared as Federation Computer Voice (nearly all episodes) and Lwaxana Troi (8 episodes) in Star Trek: The Next Generation.
Diana Muldaur who appeared as Dr. Miranda Jones in episode Star Trek: Is There in Truth No Beauty? (#3.5) and as Ann Mulhall in episode Star Trek: Return to Tomorrow (#2.20) of Star Trek, appeared as Doctor Pulaski, a recurring character, in most episodes of season 2 of Star Trek: The Next Generation, replacing Doctor Beverly Crusher (Gates McFadden) as Chief Medical Officer.