The short answer is: We don't know. There's no official answer.
Slightly Longer Answer: In
Newt's Tale, the old prequel comic, it runs off like in
Alien. I think a recent EU story actually has
Spoiler
him not even dying
.
The script treatment for
Aliens doesn't mention it, but
does mention that the rescue team that goes to collect Newt and her family also has members getting face-hugged. These people all wind up back in the colony before they give birth. This results in the multiple hugger victims the marines find out about in the infirmary later.
Presumably from this batch of huggers comes a Queen, and later the full-blown infestation. There's no reason to believe the Aliens left the colony to go to the derelict at any point, as they tend to stay near hosts.