Voyagers!

The Trial of Phineas Bogg (1x13)

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Jeff and Bogg are intercepted en route and land in a dark limbo. The Omni is dead, and they soon find out that they have been brought to a Voyager courtroom, where Bogg is put on trial for breaking the Voyager code of ethics. The prosecutor, Drake, uses Bogg's Omni memory banks to prove that he is guilty, but they discover that Drake tampered with the records and is trying to frame Bogg. Drake escapes, taking Bogg and Jeff with him. They end up in Texas in the 19th century, and the duo have to let Drake escape so that they can save Sam Houston from a firing squad. The two are brought back to the the courtroom, and Jeff is made an official Voyager. However, they depart on Drake's trail, forgetting to pick up a guidebook.