How can I change lead owner from a queue to the first activity owner?

Our inside sales reps will sometimes email new leads without accepting them from the queue . Our reps' emails are automatically logged through iHance. I would like this activity history to update the owner to the activity owner if the lead is in a queue.

Can you reccommend a way to update this field? Is this a cross-object formula that would require an apex trigger?

Thank you!