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Yes. She appears briefly in "The Poison Sky" and "Midnight", and then returns to the series for the trilogy of episodes: "Turn Left", "The Stolen Earth" and "Journey's End". She subsequently makes a brief appearance in "The End of Time" part 2. Images of her are shown in "Let's Kill Hitler" and at least two minisodes. Although she is referenced, and Billie Piper is actually credited as playing her, the character of Rose Tyler does not appear in "The Day of the Doctor".