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Brigadier Alistair Gordon Lethbridge-Stewart. One of my absolute favourite Doctor Who characters of all time. The Brig is the Doctors oldest friend and eventhough they don't always see eye to eye they always help each other out when they're in trouble.
Ben Jackson. As like Steven, I've only seen one story with Ben (The Tenth Planet). I love the chemistry he has with Polly, I really can believe they get married later in life.