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We do not know which incarnation first met them or when in the Doctor's timeline. All we know is "A Good Man Goes to War" has Vastra describe how she first encountered the Doctor during the digging of the Underground in the 19th century. It has not been revealed on screen when the Doctor first met Jenny or Strax.

From "A Good Man...", we know that Strax had met him before but we don't know the circumstances of the meeting. Jenny was shown to be initially unfamiliar with the TARDIS (she said to Vastra, "It just appeared. What does it mean?"), although that doesn't tell us whether or not she'd previously met the Doctor himself.