Andromeda Season 3 - Episode 21: Daniel, Teal'c and Martouf are all in the same episode. Something to think about. And of course, there's also another character from SG1 in the episode, but, River Song would object if I said more.
(Though, I'd recommend Charlie Jade or Earth Final Conflict S1 - 4 before Andromeda for your next adventure)
One Day I hope to be the Man my Cat thinks I am
Where are we going? And why are we in this Handbasket?