While the Enterprise is docked at Starbase Montgomery for "engineering consultations", Riker discovers he's been offered command of the U.S.S. Aries, a small exploration ship on the frontier. He has 24 hours to decide whether to take the post, and Starfleet sends a civilian advisor to brief Riker on the mission. To Riker's chagrin, the advisor is his long-estranged father, Kyle.

Kyle is something of a Starfleet legend-he knows everyone, and everyone knows him (including Dr. Pulaski, who apparently was once in love with him). Several times, Kyle tries to talk with Will, but is always coldly rebuffed. Even at the briefing, when Kyle says he's "here with my hand out, son", Will leaves in a huff. Pulaski engineers a meeting between Kyle and Troi, which ends with Troi sternly telling Kyle he should consider "why you're so competitive with your own son."

Meanwhile, Wesley has noticed that Worf is out of sorts, and it seems to have nothing to do with Riker's imminent transfer. He enlists Geordi's and Data's help, and eventually determines the cause: it is the tenth anniversary of Worf's "Age of Ascension", and he has no Klingon friends or family to celebrate with. The three decide to program the holodeck for an Ascension rite and to attend as Worf's family. Naturally, as it's a Klingon ceremony, pain figures rather highly in the rite.

A short time later, Will discusses command with Picard, who tells him that both staying and leaving have merit, but says confidentially that "there really is no substitute for holding the reins." After saying goodbye to Troi, Will tries to get his father to leave. An argument ensues, and they decide to clear the air by engaging in an Ambo-Jitsu match, despite objections from both Troi and Pulaski.

Troi, meanwhile, leads Worf to the holodeck, where he finds the rite all prepared, with Data, Geordi, Wes, O'Brien, and Pulaski in attendance. He undergoes the rite, and suffers excruciating pain, but is grateful. In the Ambo- Jitsu ring, Kyle and Will finally release some of the emotions they've kept pent up for years (such as Will's anger that it was his mother who died and not Kyle), and they part as friends. Finally, Will, citing "motivated self-interest", decides to stay aboard the Enterprise.