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Henry VIII was a King of England. The First Doctor once argued with Henry VIII as he wanted to be sentenced to the Tower of London where the TARDIS was located. (DW: The Sensorites) However, on a later occasion the Seventh Doctor claimed that he had never met him. (NA: Tragedy Day) The Tenth Doctor later mentioned having dinner with him. (NSA: Revenge of the Judoon)
Since the Tenth Doctor seemingly married his daughter Elizabeth I, that would mean that Henry VIII is the Doctor's father-in-law. (DW: The End of Time)