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The Battle of Agincourt was part of the Hundred Years' War. (TV: The Woman Who Lived) It was fought in 1415 by Henry V. The First Doctor, Ian Chesterton, Barbara Wright and Susan Foreman convinced the king they were sent by God to help him win. (PROSE: The Reign Makers)
While expecting an assault on George Litefoot's house, Leela suggested they should "trap [the attackers] in the crossfire" and thought Litefoot would have "weapons in fixed positions to guard the approaches". The Fourth Doctor said he had brought her to the wrong time and believed she would have loved Agincourt. (TV: The Talons of Weng-Chiang)