Jerusalem

Jerusalem was a city on Earth to which the First Doctor and Susan Foreman once travelled prior to meeting Ian Chesterton and Barbara Wright. They visited the city broadly around the time of Jesus Christ, and the Doctor found it a "brutal and murderous place." He went on to call it "terrible," replete with "slavery, crime in the streets, everybody stabbing everyone else in the back." He held the same views of Rome and Antioch, two other ancient Earth cities which the two Gallifreyans visited together. (PROSE: Byzantium)

In the 1st century, the Sixth Doctor and Melanie Bush visited the city. (PROSE: The Man Who Wouldn't Give Up)

During the Third Crusade in 1190, the European Christian forces hoped to retake Jerusalem from Muslim occupation. However, they were unsuccessful. The First Doctor told Vicki Pallister that Richard the Lionheart would only see the city from afar. (TV: The Crusade)

Aphra Behn had vivid dreams of a far-away land with a city she described as "antic Jerusalem". (PROSE: Newtons Sleep)