In 2376, he captured Seven of Nine and Tuvok as they were studying a micro-nebula and forced Seven to fight in the games in exchange for medical care for Tuvok, who was injured by an explosive that was beamed aboard their shuttle.
When the USS Voyager discovered Seven was in the Tsunkatse match, they hunted down Penk's ship. Penk tried to brush them off, but they opened fire. They began destroying Penk's ship's transmitters, so he had to transfer power from the force fields to the remaining transmitters. This made them weak enough for the Voyager to beam Tuvok, Seven, and the Hirogen Hajur off Penk's ship. (VOY episode: "Tsunkatse")