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After making a deal with the Time Merchant, Dr. Smith returns to Earth just before the launch of the Jupiter II. If he doesn't get on it, the Jupiter II will crash into an asteroid.
Penny is kidnapped by aliens who think that she is the missing Princess Alpha.
When the Robinsons nearly reach Alpha Centauri, they find a human base run by young people. They convince the adults that Penny and Will aren't their children and they leave in the Jupiter 2.