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Milo and Cheen kidnapped Martha Jones so that they could travel in the fast lane of The Motorway. He told Martha (once she was inside their car) that they would drop her off in six years once they reached their destination.
When they were finally able to reach the fast lane their car was attacked by Macra, however they were able to escape when the Doctor opened the motorway up allowing all 'residents' of the Motorway to escape into New New York.
He and Cheen dropped Martha off at the New York Senate to meet with the Doctor, the Face of Boe and Novice Hame. (DW: Gridlock)