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You may be looking for Barbara Wright.

Barbara was the granddaughter of the human scientist Dr. Who, the elder sister of Susan and the girlfriend of Ian Chesterton. She accompanied Dr. Who on his first trip to the planet Skaro in Tardis, which her grandfather had invented. During her travels, she met the Daleks and then an ancient Roman legion in 64 AD. (NOTVALID: Dr. Who and the Daleks, Dr Who and the House on Oldark Moor)

They subsequently travelled to Oldark Moor and met Count Tarkin. (NOTVALID: Dr Who and the House on Oldark Moor)