2x11 - Joan of Arcadia

As Joan tries to work her way up to the high dive despite her acrophobia, Luke attempts to overcome his paralyzing fear of undertaking an activity at which he might fail. Meanwhile, Will continues his quest to find Judith's killer, and Kevin goes on a date with Beth. Additionally, while reflecting on Judith's death and Kevin's accident, Helen becomes overwhelmed with concern about her family being in harm's way.