When Eren recovers, she, along with the rest of the elite squad, cut a path to the breach. At one point, when a titan converges on Armin, Rico rams her swords into its eye and Mikasa finishes it off. When the rock is finally in place, she observes that everyone else is dead and they are later rescued by Rivaille.
She also testifies against Eren at his trial in Ch. 19, convinced that he is a danger to himself and humanity.
Rico does not appear again until Ch. 38, when the Stationary Guard is deployed against the Titans which have mysteriously appeared within Wall Rose. Rico is in charge of the Eastern line of defense, where her squad lures Titans into cannon fire and she uses her Vertical maneuvering equipment to cut their necks while they're disabled.