Steven was a spaceship pilot, stranded on the planet Mechanus some time in the future, and lived for two years as the only human being among a race of robots, the Mechanoids (The Chase).

After the Doctor and Vicki said goodbye to Ian and Barbara, Steven stowed away in the TARDIS and left with them. Strong-willed and argumentative. Steven often challenged the Doctor. It was for those qualities that the Elders invited him to stay as their leader at the end of The Savages.

Peter's audition for the role was in the Chase, where he played a cowboy who got exterminated by the Daleks.

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The Time Meddler DVD
Savages CD

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