“John Quixote” is episode seven of season four of Farscape.
Crichton gets pulled into playing a virtual reality game with Chiana – and then they both get stuck in it, and can’t leave. Stark, who was last seen in “The Choice” having remained behind on the planet trying to contact Zhaan, is in the game, having apparently programmed it, partly using the memories of the other Crichton who died in “Infinite Possibilities, Part 2: Icarus Abides”. In order to get back out of the game, they must complete it.
Meanwhile, back on Moya, there’s apparently a problem with Scorpius.
There’s a twist to this episode, which I did manage to guess because this twist has been used before. Most recently (from my point of view) in the Stargate SG-1 episode “The Gamekeeper” I think.