In one of the cells there you meet this cute catgirl prisoner named Pericci, and the first thing out of her mouth is something like "Oh no! You're gonna tie me up again aren't you!" Still not realizing that your party isn't with the pirates, Pericci then worriedly says "You're gonna wrap that rope all around me again aren't you!"
That's all there really is to the scene, but since I find it to be a huge turn-on hearing girls talk about being tied up and/or gagged, this was a nice surprise for me anyway. What makes it so cute is the fact that almost all the dialogue in this game appears not only in text, but is voiced by the characters' VAs, including these lines. Pericci sounds like you would expect your typical cute anime cat-girl to sound, so it's a really nice delivery. 
It's just a shame we don't actually get to see in-game how she was tied up by the pirates previously, but it's nice to imagine nonetheless. And there's always fanart! 
BTW, for those who don't know, Star Ocean: First Departure is the PSP re-make of the Japan-only game released way back in the late 90's for the Super Famicom, which was simply titled Star Ocean. I actually have the original game and an SFC, but I've put off playing it for years just because I figured I couldn't get very far into it or enjoy it with my limited understanding of Japanese. This scene probably exists in the original too, but I don't know if it's voiced. I think there is actually some voiced dialogue in the original but I'm not sure how much.