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Susan's mother was the wife of a Cardinal on Gallifrey. On the day that she was giving birth, Lord President Rassilon sent a number of guards to terminate the pregnancy due to it violating the Legacy of Rassilon; this proclaimed the only the Loom Born could inherit the legacy of Rassilon. The First Doctor travelled to the past and saved Susan and Patience. (PROSE: Cold Fusion) Susan was apparently the last child born after the Pythia's Curse. Her mother died during childbirth. (PROSE: Lungbarrow)
Upon seeing a picture of Susan Foreman, the hermit said she took after her mother. (PROSE: The Three Paths)
She was a painter and taught Susan how to paint with watercolours before Susan left Gallifrey. (AUDIO: The Uncertain Shore)
In an account where Barbara Wright was Susan's tutor, (PROSE: Doctor Who in an Exciting Adventure with the Daleks) rather than her teacher at Coal Hill School, (TV: An Unearthly Child) she told Barbara that she hadn't seen her mother and father in a long time. (PROSE: Doctor Who in an Exciting Adventure with the Daleks)
Parallel universe
In a parallel universe, Susan was the daughter of the Doctor's daughter. (AUDIO: Auld Mortality)