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Henry VIII was a King of England. The First Doctor once argued with him so he would be sentenced to the Tower of London, where the TARDIS was located. (DW: The Sensorites)
The Fifth Doctor and Nyssa once visited the court of Henry VIII in December 1539 (ST: God Send Me Well to Keep), as did the Sixth Doctor and Peri Brown on 4 May 1536 (BFA: Recorded Time)
However, the Seventh Doctor later claimed that he had never met him. (NA: Tragedy Day)
The Tenth Doctor later mentioned having dinner with him. (QR: Revenge of the Judoon)
Whilst listing some of the Doctor's past encounters with the Royal Family to the Eleventh Doctor, Elizabeth X mentioned him being a "drinking buddy" of Henry VIII. (DW: The Beast Below)
Upon his death, he was succeeded by his daughters Mary I (BFA: The Marian Conspiracy) and Elizabeth I (DW: The Shakespeare Code)
As it was suggested that the Tenth Doctor may have married Elizabeth, it is possible that Henry VIII was therefore his father-in-law (DW: The End of Time (TV story))