Episode 42 - Vyasa stops by the Pandava camp and tells the story of Mudgala, who turns down the opportunity to go bodily to heaven because it wasn't permanent enough!  He chose instead to stay on earth, eking out his miserable existence until his natural death, when he finally attained total extinction.

That seems to be Vyasa's only mission, because after the story, he leaves.  Soon after, King Jayadratha of Sindh passes by the camp while the brothers are away hunting.  He spots Draupadi alone and undefended, so he grabs her and runs off.

The brothers quickly get wind of this and pursue him through the jungle.  The princess is retrieved and Jayadratha's followers decimated, but the king himself has his life spared because he happens to be a kinsman of theirs-- he is Ghandari's nephew.

Jayadratha is not nearly so forgiving as the Pandavas, and he seeks revenge for the humiliation he suffered during his captivity at the hands of Bhimasena.  He lives in the wilderness, worshipping Shiva until the god offers him a boon.  After some negotiation, they settle on granting him the ability to stay the brothers during a cavalry attack, except for Arjun, whom even gods have a hard time stopping!