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The Second Doctor tricked the Voraxx into kidnapping Jamie McCrimmon so the Doctor and Zoe Heriot could follow them on board. Once on board the ship, the Doctor awoke Araxus and another Ice Warrior to start a revolt among the slaves.
When the slavers departed, the slaves aboard used the ship to return everyone home that wanted to be, and everyone else to become a new crew that would "find [their] dessstiny among the ssstars". (COMIC: Bazaar Adventures)