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They worked together successfully but (usually) sniped at each other verbally. For example, in "The Three Doctors", the First Doctor described the Third Doctor & the Second Doctor as "a dandy and a clown". In the same story, when the Second Doctor entered the Third Doctor's TARDIS, he said, "You've redecorated. I don't like it." (This was repeated by the Tenth Doctor, when he entered the Eleventh Doctor's TARDIS, in "The Day of the Doctor".)