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Sarah Jane Smith

Sarah Jane Smith traveled with the Third and Fourth Doctors. After being forced to abandon her, the Doctor sent her K9 Mark III. Sarah later encountered the Tenth Doctor and helped him defeat the Krillitanes. This inspired her to continue investigating alien threats with the help of K9 and several young people; along the way she adopted a son, and later a daughter.

Read more about this topic on the Tardis Data Core.