I read the beginning of a story at least 10 years ago (I don't think I ever finished it) where a ship was traveling through space. Some (or all?) of the people were in stasis pods and when they woke up, they found one person dead inside pod. Further investigation found that he had multiple holes in his body. They figured out it was a worm (alien?) that got inside him.
Then the only other part I remember vaguely is someone else gets infected, and most people step back and try and keep away. But one person reaches out a hand to help, and the worm visibly jumps to new person? Or maybe jumps to finger? And I think someone else cuts that finger off really quickly trying to stop it from invading?
That "scene" has stuck with me for a long time, but I can't remember what book it was from.