Gemini 9A mission

Gemini 9 astronauts had a spacewalk planned as part of their mission and in the worst-case scenario, if the astronaut couldn't get back in, NASA planned to attempt re-entry of the vehicle with the astronaut still tethered outside, which would have most likely killed both astronauts. The crew had clear instructions to not cut loose the astronaut stuck outside. The astronaut did have lots of trouble with the spacewalk but did manage to make his way back inside safely.