Victoria met the Doctor and Jamie when the Daleks held her hostage in order to force her father, Professor Waterfield, to lure the Doctor back through time
(Evil of the Daleks)

When her father was killed by the Daleks, Victoria decided to join the TARDIS crew, though she never overcame her terror of alien creatures, and when a nice ordinary family offered her a home on a gas exploration rig, she decided to stay (Fury from the Deep)