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In "The Sensorites", he claimed that he argued with Henry VIII, wanting to be sentenced to the Tower of London (where he'd left the TARDIS). Then in "Tragedy Day" (novel), he said he'd never met him. Then, in "Revenge of the Judoon" (novel) he said they'd had dinner together. Well, when you're somewhere between 907 and 2000 and you've spent most of your life mucking about with history, it's hard to keep it all straight....

In "The Power of Three", although we didn't see Henry himself, we did see Amy, Rory & the Doctor hiding under a bed while Henry looked for them, because Amy had accidentally married him by inattentively saying "Yes" at the wrong moment.