Yes, 30 years ago today we learned that the first duty of any Starfleet officer is to the truth.
The Setup: Wesley is almost killed in a training accident. He was a member of an elite flight squad at Starfleet Academt, and an accident led to the death of one of the cadets. It was later discovered that the team was covering up that the accident was caused by them attempting a very dangerous stunt (so dangerous that it was actually banned at the Academy). The flight team captain, Nick Locarno pressured the team into attempting the stunt and then to try covering it up. In the end, Picard guilts Wesley into confessing, and Nick is ultimately expelled, willingly taking the full brunt of the punishment so his team members may stay at the Academy.
The other set up: When planning for Voyager, they come up with a totally original character named Tom Paris, who they wanted to be like Nick Locarno, and in the end, even got the same actor to play him. Where Nick Locarno was a cadet who caused a deadly accident and tried to cover it up, Tom Paris was an Ensign who caused a deadly accident and tried to cover it up. TOTALLY different. TOTALLY not changed so they wouldn't have to pay royalties to the writers of The First Duty.
The First Duty is also one of TNG's best episodes.