Deliberate mistake: After the Crazy Ivan, where they escape from the Reaver ship, the shot of Mal, Wash and Zoe celebrating on the bridge. Wash has his hands out in front of him like he's still holding the stick, but there's nothing in his hands. In the commentary, Joss Whedon mentions that, in order to get the shot right, they had to move the seat back far enough that Alan Tudyk couldn't reach the controls, so they instructed him to mime it.
Continuity mistake: When Shepherd Book tells everyone about the electrical nets, Jayne says, "One day you're gonna tell us all how a preacher knows so damn much about crime." Shepherd then turns to leave. But in the immediate close up of him and Mal, he turns to leave again.
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