 Morena Baccarin as Inara Serra — a Companion , which is the 26th century cross between a geisha and an escort or mistress , who rents one of Serenity 's two small shuttles . Inara enjoys high social standing . Her presence confers a degree of legitimacy and social acceptance the crew of Serenity would not have without her on board . Inara displays great dignity , civility and compassion . There is strong romantic tension between her and Mal , who share many character traits , but each jokingly objects to the other 's " whoring " or " petty theft " , respectively . Both refuse to act on their feelings , and try to keep their relationship professional . 
