"May I introduce you... Miss Sarah Jane Smith."
A journalist, a mother, an adventurer, a woman's woman, a confidant, and many things more - if you don't know her, you can not possibly call yourself a Whovian.
Sarah Jane Smith was companion to the Third and Fourth Doctor, met his Fifth, Second, Fifth, Sixth and Seventh incarnations, and had epic adventures after reuniting with the Tenth and Eleven Doctors later in life. This woman easily embodies what a "companion to the Doctor" means.
Although Sarah and 4 had many adventures together and travelled for a long time, their relationship was lost after the Doctor was summoned back to Gallifrey, and he told her humans weren't allowed there. Their final words to each other were pleas to not forget each other and what they did together. The Doctor intended to take her home, but missed by a couple hundred miles -- Instead of leaving her home in London she dropped her off in Aberdeen, Scotland. "He blew it," Sarah Jane sighed as she walked towards her new life.
Along with K9 and many other friends, Sarah Jane defended the Earth throughout the rest of the 20th Century. She still missed her old friend "John Smith" deeply, so she was thrilled when they met again in 2006, and together, they fought off the Krillitane in a school. Sarah Jane and the Doctor's companion at the time, Rose Tyler, definitely did not get along at first, feeling threatened by each other over the Doctor's hearts, but made up and eventually became very good mates, since they realized they were both incredible women and companions in their own right.
Her life had a breathe of fresh air after this, so she started to explore the world again looking for adventures. During her adventures, she entered motherhood by adopting former alien-created beings, such as her son Luke and daughter Sky. Together, along with their friends and armed with Sarah Jane's computer, Mr. Smith, and her sonic lipstick, they fought off threats to Earth in their own, eccentric way.
The Doctor himself got involved in some of her quests. The Tenth Doctor visited her in her wedding day and she was one of the companions he visited just before he underwent regeneration. She reunited with the Doctor once more in his Eleventh incarnation, as well as with former companion Jo Jones, in the SJA episode, "Death of the Doctor."
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