Yes sorry, I should have also been more clear, but when that happens, did you go back to the original quest giver? I did, to hopefully turn the first quest in, but he has that same quest again which is treated as a separate quest. I'm assuming that is what causes the bugged quest to resurface. When you completing the second one it will move both into the complete section of your quest log, you never get your reward for the first and your companion is holding. But what you describe is what happens for me as well.