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We don't know how their acquaintance began, only that Strax owed the Doctor a debt of some kind (which according to dialogue in "A Good Man Goes to War" involved Strax taking on nursing duties during a future human conflict). That was why he was among those summoned by the Doctor to help in the attempt to rescue Amy Pond & her daughter Melody (later known as River Song) from Demon's Run ("A Good Man Goes to War"). With Madame Vastra & her wife Jenny Flint, Strax is now a member of the "Paternoster Gang", based in 1890s London, who are the Doctor's friends & who assist him when necessary ("The Snowmen", "The Crimson Horror", etc).