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The man-at-arms was part of the Earl of Leicester's party to capture the First Doctor and execute him as a traitor to King Richard in 1190. After the Doctor and his companions Ian Chesterton, Barbara Wright and Vicki Pallister escaped into the TARDIS, the man-at-arms heard a voice. Rushing to the source, he and Leicester saw the TARDIS dematerialise. They decided to speak of this to no one. (TV: "The Warlords")