Marcipor

Marc was a companion of the Fifth Doctor and previously a slave owned by Marcus Tullius Cicero.

Travels with the Doctor
In 63 BC while serving drinks at a party hosted by his master Marcus Tullius Cicero, Marc met the Fifth Doctor, Tegan and Nyssa. He was transported to another realm alongside the Doctor, Tegan, Nyssa and Cicero. He used his navigation skills to help locate the three keys, and after this adventure Cicero decided to make him a freedman. During their adventure, he was invited aboard the TARDIS by Tegan. (AUDIO: Tartarus)

Behind the scenes
Marc is portrayed by George Watkins, who is the nephew of Peter Davison.