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In order of Doctor:

First to Second: In the TARDIS ("The Tenth Planet").
Second to Third: Unknown. The Second was last seen on Gallifrey ("The War Games") & the Third was first seen falling out of the TARDIS on Earth ("Spearhead from Space").
Third to Fourth: UNIT's British headquarters on Earth ("Planet of the Spiders").
Fourth to Fifth: Below the Pharos telescope on Earth ("Logopolis").
Fifth to Sixth: In the TARDIS ("The Caves of Androzani").
Sixth to Seventh: In the TARDIS ("Time and the Rani").
Seventh to Eighth: In the mortuary of Walker General Hospital in San Fansisco on Earth ("Doctor Who", the TV movie).
Eighth to War Doctor: On Karn ("The Night of the Doctor").
War Doctor to Ninth: In the TARDIS ("The Day of the Doctor").
Ninth to Tenth: In the TARDIS ("The Parting of the Ways").
Tenth to Tenth: In the TARDIS ("Journey's End").
Tenth to Eleventh: In the TARDIS ("The End of Time").
Eleventh to Twelfth: On Trenzalore & in the TARDIS ("The Time of the Doctor").

This is as far as we've got (before start of Series 8).