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Over the history of Doctor Who, there has been many TARDIS teams.

First Doctor
The first TARDIS team was the combination of the First Doctor; his granddaughter Susan Foreman; and two of her teachers, Ian Chesterton and Barbara Wright. They were played by William Hartnell, Carole Ann Ford, William Russell and Jacqueline Hill respectively. After the first season, Ford decided to leave and in the second story of Season 2 titled The Dalek Invasion of Earth, the Doctor left Susan behind to marry David Campbell.

Susan was replaced the following story in The Rescue with Vicki Pallister as played by Maureen O'Brien. In the penultimate episode of Season 2, Ian and Barbara both left the Doctor in The Chase after taking the opportunity to return to the 1960s in a Dalek time machine. Peter Purves also made his first appearance as Steven Taylor in this story who would be revealed to have stowed away on the TARDIS until the following story, The Time Meddler, officially joining the TARDIS team from there on.

Season 3 was a turbulent time for the TARDIS team. In the second story, Mission to the Unknown, the Doctor and his companions did not appear at all. Vicki left in the third story, The Myth Makers, to marry Troilus. In the final episode of The Myth Makers titled "Horse of Destruction", Katarina played by Adrienne Hill made her first appearance but was killed off in "The Traitors", the fourth episode of the next story, The Daleks' Master Plan. Bret Vyon played by Nicholas Courtney was introduced in the first episode of Master Plan, "The Nightmare Begins" and was killed by Sara Kingdom as played by Jean Marsh also in "The Traitors". In the next episode, "Counter Plot", Sara joins the TARDIS team, only to be killed off in the twelfth and final episode, "Destruction of Time". In the final episode of the next story, The Massacre, Dodo Chaplet played by Jackie Lane joined the TARDIS team with the Doctor and Steven. In the penultimate story of Season 3, Steven left in The Savages and in the final story Dodo also left in The War Machines with Ben Jackson and Polly Wright as played by Michael Craze and Anneke Wills respectively joining the Doctor on his travels in the same story.

After William Hartnell's health started to deteriorate, in the second story of Season 4 titled The Tenth Planet, he departed the role and in its final episode the First Doctor regenerated into the Second, as played by Patrick Troughton.

In 1983's anniversary special The Five Doctors, the First Doctor (now played by Richard Hurndall to replace the deceased Hartnell) was reunited with his granddaughter, Susan, who served as his companion for the duration of the story despite not being the incumbent TARDIS team as the Fifth Doctor era was ongoing at the time.

Second Doctor
The new team of the Second Doctor, Ben and Polly lasted only for one story, namely The Power of the Daleks after which Jamie McCrimmon played by Frazer Hines joined in The Highlanders. Ben and Polly left in the penultimate story of the season, The Faceless Ones and Victoria Waterfield played by Deborah Watling joined in the The Evil of the Daleks which immediately followed it.

In similar fashion to her own arrival, Victoria departed in the penultimate story of Season 5, Fury from the Deep whilst her replacement, Zoe Heriot played by Wendy Padbury joined in the finale, The Wheel in Space. In the last story of Season 6, the ten-part The War Games, the Second Doctor was forced to regenerate by the Time Lords, who also wiped Jamie and Zoe's memory and returned them to their own times.

When the Second Doctor returned in The Five Doctors, Brigadier Alistair Gordon Lethbridge-Stewart (who had appeared in The Web of Fear and The Invasion with Troughton) acted as his companion. When he returned again in The Two Doctors his sole companion was Jamie.