The USS Enterprise's first Captain, Robert April (Adrian Holmes), turning over command to his former First Officer, Captain Christopher Pike (Anson Mount), happened offscreen. Captain Jean-Luc Picard (Patrick Stewart) took command of the USS Enterprse-D after his successor, the USS Enterprise-C's Captain Rachel Garrett (Tricia O'Neil), died 20 years prior. Captain Picard passing the USS Enterprise-E to Captain Worf (Michael Dorn) was only inferred in Star Trek: Picard season 3. However, Captain Kirk has both received and passed on the USS Enterprise in the Star Trek movies.
Kirk Has Been Part Of 2 USS Enterprise Captain Successions
Captain Kirk Has Both Passed & Received Command Of The Enterprise
Star Trek (2009), set in the alternate Kelvin Timeline, is the most memorable example of USS Enterprise succession when Admiral Christopher Pike (Bruce Greenwood) turns over his starship to Captain James T. Kirk (Chris Pine). As a rogue Starfleet Academy Cadet, Kirk heroically led the Enterprise to defeat the time-traveling Romulan villain, Nero (Eric Bana). The Enterprise's passing of the torch included the amusing exchange of Kirk saying, "I relieve you, sir," and Pike slyly replying, "I am relieved."
In Star Trek Generations, Captain James T. Kirk (William Shatner) was present at the launch of the USS Enterprise-B. It was not an official transfer of Enterprise Captaincy, since no command codes were exchanged between Kirk and Captain John Harriman (Alan Ruck). Kirk's presence at the Enterprise-B's maiden voyage, alongside Commander Pavel Chekov (Walter Koenig) and Scotty (James Doohan), was more ceremonial, but Kirk more or less passed the torch to Harriman.
Star Trek Generations was a spiritual passing of the torch from Captain Kirk to Captain Picard.
Admiral James T. Kirk assumed command of the USS Enterprise from its previous Captains in two other Star Trek movies. Admiral Kirk muscled Captain Will Decker (Stephen Collins) out of the center seat in Star Trek: The Motion Picture. However, in Star Trek II: The Wrath of Khan, Captain Spock (Leonard Nimoy) gladly gave the Enterprise back to Admiral Kirk, reminding Jim that "commanding a starship is your first, best destiny."
Captain Picard & Jellico Passed USS Enterprise-D To Each Other
"Chain of Command" Showed How The Enterprise-D Is Transferred Between Captains
Who became Captain of the USS Enterprise-F isn't known, and Admiral Elizabeth Shelby (Elizabeth Dennehy) was apparently killed by the Borg. As was Captain Liam Shaw (Todd Stashwick) of the USS Titan-A. So there was no succession ceremony for Captain Seven of Nine (Jeri Ryan) when the Titan-A became the USS Enterprise-G in Star Trek: Picard season 3.
Despite serving together on the USS Enterprise-D and E for a total of 15 years, Captain Jean-Luc Picard never permanently transferred command of the Enterprise to his First Officer, Commander Will Riker (Jonathan Frakes). Instead, Riker accepted a promotion to become Captain of the USS Titan in Star Trek: Nemesis. When Riker became Acting Captain of the Enterprise in Star Trek: The Next Generation's "The Best of Both Worlds," it was because Picard was assimilated by the Borg and turned into Locutus.