‘Ian, can you see my knickers?’

‘’Fraid so, old girl! But don’t worry. When we do it for real, I’ll pull your dress down.’

And, bless him, he did.

Tom showed himself in an equally gallant light in Ark when we had to crawl through a ventilation shaft. I don’t know what exactly went wrong but we were going through this pipe and I got stuck. The script goes out the window for a few moments as Tom attempts to cajole me out, all in character, and I’m desperately trying not to fall flat on my face. Somehow he gave me the shove I needed without breaking stride – and without me landing in a heap. That, for me, was another epiphany moment. It was a genuine, overwhelming emotion of: ‘Oh God, I love you for that.’ That was the point when I thought, Oh, I adore working with you.

It really was an epoch-defining moment. So much so, that nearly forty years later it would come back to haunt me when Matt Smith, the Eleventh Doctor, referred to it when he joined me in The Sarah Jane Adventures.

Tom really was on fire on Ark. I wasn’t the finest authority on all things Whovian, but the word on set was that he was the first Doctor who really ‘got’ the fact that he was an alien. I would read the script and try to predict how Tom would attack certain lines. Nine times out of ten I was wrong. Whatever I predicted, he would find another way. And it would be perfect.

For a Time Lord.

Sometimes, however, I just needed Tom to be Tom. I remember working on the third and fourth episodes at North Acton. We were meant to be looking at a screen and, being a rehearsal, it was just a prop with the name of a character written on it for a guide. I turned to Tom and said, ‘This should be interesting – he died in Episode 2.’

Then Tom turned round and said, ‘Rodney – Lis has raised a very good point, I think.’

I’d like to think the director would have listened to me, but I wouldn’t have bet on it. That became our pattern for future episodes. I’d bring something to Tom’s attention and he’d puff up, summon all his immense gravitas and say, ‘Leave it to me, Elisabeth.’ Then off he’d go to sort it out.

*   *   *

Robert’s money-saving drive in his first season hit upon the idea of having the same set used twice. I can see why this would be attractive. Somehow, though, he needed to conjure a plot that could make sense of revisiting the same place. By contracting Gerry Davis to reinvigorate his old creations, the Cybermen, he found his answer. More importantly, after a bit of a rummage down the back of the BBC sofa, Philip also found enough money for a location shoot. That’s how, on 18 November, just six days after Ark’s final studio date, I found myself on the bus down to Somerset.

Wookey Hole, in Somerset, is a series of caves supposedly inhabited by primitive man 50,000 years ago. It’s a major tourist attraction now and when you step inside you can certainly picture primaeval Britons scrabbling around. For the purposes of Who, however, the caves were designed to serve as the catacombs of the golden planet Voga in Revenge of the Cybermen.

Whereas Jon used to give me the heads-up on recurring monsters, there was no one around to plug the return of the Cybermen. When I first saw them, I confess, I wasn’t impressed. It was the only serial where I couldn’t pretend. Daleks, Exxilons, Zygons, yes, yes, yes. All plausible when you’re sharing the same stage – but Cybermen? You’d see them lurching around, huffing and puffing in their silver Wellington boots, and just think, Not very robotic, are they? I couldn’t see past the costume.

It’s possible I’m not the target audience, of course. Years later, when Sadie was about eight, I took her to my first Blue Box convention. As soon as she saw someone marching around in a proper Cyberman costume she just fell in love. She literally hung on to this poor guy for the whole day. I’ve got pictures of her going up steps clinging to his arm – they’re probably still her favourite.

Worse than the villains – and worse than Rodney Bennett – the director this time was Michael Briant. We hadn’t enjoyed the best relationship on Death to the Daleks, but I tried to be professional and give it a fresh go this time. You never know: maybe it was Jon’s presence that got us off on the wrong foot, as much as they liked each other. It turned out not to be so. Michael just isn’t what I’d call an actor’s director: his focus is on the story, the special effects and the scenery. He’s utterly professional, but those are his priorities. Get those right, he seems to believe, and the cast just slot into place. I don’t think it was that straightforward, but there you go.

Working in Wookey Hole should have been a fun experience. After all, it’s one of the UK’s premier tourist attractions. But no sooner had we arrived than things began to go wrong. It didn’t take long for us to believe the caves themselves had their own agenda.

The guy chaperoning us around the caves confirmed as much. Pointing to a stalagmite resembling a witch’s face, he said, ‘The Witch doesn’t like you – she doesn’t want you here.’ Thanks, mate, a charming welcome! The next thing we knew, on a closed set, Michael saw a guy in full potholing regalia wandering around. Turned out this man had gone missing some years earlier. OK, I thought, this is weird. But we pressed on – we always just pressed on.

Later, Ian and I were sitting under the ‘Witch’ going through our scripts.

‘There’s a scene here, Ian, which I just don’t understand,’ I said.

Ian nodded. ‘I know which one you mean.’

We both turned to this funny little half page. It was just dialogue between him and me but, stare as hard as I might, I couldn’t make head nor tail of it. Without doubt it was the most unfathomable text I’d ever been asked to learn. It wasn’t the first time I couldn’t follow some scriptwriter’s logic, but even so …

I always flag anything in the script I don’t understand, so I put an asterisk next to the preceding passage to jog my memory. Slowly but surely we worked through the day’s pages. Then Michael announced, ‘It’s a wrap’ and people started packing up. It was then I remembered the confusing lines.

Ian was looking puzzled as well. ‘We’d better check with the boss,’ I said, and so we went up to Michael.

‘What about the scene between Ian and me?’ I asked. ‘Aren’t we going to do that one today?’

Michael stared. ‘What scene? There is no other scene – we’re finished.’

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