The Third Doctor:

Liz Shaw was the scientific advisor to Unit during the first Auton invasion. The Doctor had been forced to regenerate and his TARDIS immobilised so the Brigadier does not initially recognise him, but soon persuades him to help out with the newly formed UNIT. Liz decides to retire from UNIT after the events in 'Inferno' where the Doctor ended up in an alternate history Britain.
Jo(sephine) Grant is a trained member of UNIT. Unfortunately, she's not scientifically trained and initially this leads to much conflict between herself and the Doctor. Their first action together is to counter the renewed threat of the Autons. They also get tangled up in the machinations of the Master, another member of the Doctor's race. She leaves UNIT and the Doctor after 'The Green Death' when she marries Professor Jones
Sarah Jane Smith was a journalist and she was working a story when she discovered that a number of top scientists were going missing. As a stowaway on the Doctor's TARDIS, she finds herself in the early middle ages as the Doctor battles to counter 'The Time Warrior'.

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