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Has the Brigadier ever travelled in the TARDIS?

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During the story "The Three Doctors", he travelled in the TARDIS to return to Earth. In "The Shadow in the Glass" (BBC Past Doctor Adventures novel #45), the Brigadier also joined the 6th Doctor in travelling to WWII Germany. Also, in "Sympathy for the Devil" (Big Finish audio story) an alternate Brigadier ended the story by travelling with the Doctor. In the Fifth Doctor story "Mawdryn Undead", the Brigadier travelled in the TARDIS with Tegan and Nyssa. He also seemed to travel in the Second Doctor's TARDIS at the conclusion of "The Five Doctors", though this is perhaps clearer in the original version of the episode than in the modern, retouched one.

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