Sarah Richley

 was the mother of Peter Richley.

Sarah did not want Peter to go to sea. When she had not heard from him in several years, she feared that he was dead.

At one point, she met the Seventh Doctor and was, according to him, kind to him. To return her kindness, he arranged for her to meet Peter again.

Through a series of shipwrecks, the Doctor arranged for Peter to be brought aboard the Jupiter, on which Sarah was a passenger in 1829. By this time, she was dying, but the sight of her son, alive and well, started her on the road to recovery.

Peter bought her a house and she lived for another twenty years. (PROSE: Of the Mermaid and Jupiter)