On 15 March 1959, "Barrosa" collided with her sister ship in the Bay of Biscay. Later that year, "Barrosa" entered an extensive programme of modification to become a radar picket, with the addition of the Sea Cat missile, as well as new anti-aircraft weaponry and new radar. In 1963 "Barrosa" joined the 8th Destroyer Squadron, based in the Far East, before joining the 24th Escort Squadron. As well as radar picket duties, tasks included operations against pirates, and on 10 February 1963, "Barrosa" intercepted a pirate boat, with a gun battle occurring between "Barrosa" s search party and the pirates, with one of the destroyer's crew killed. The ship also carried out anti-infiltration patrols during the Indonesia–Malaysia confrontation.