The Second Doctor claimed that he had given the idea for the Boy Scouts to Robert Baden-Powell at Mafeking. (COMIC: Freedom by Fire) David Campbell, the husband of the Doctor's granddaughter Susan, was a Boy Scout in his youth, and carried from it the habit of always carrying a small electric torch in his back pocket, which he still had in his 50's. (PROSE: Legacy of the Daleks)
When the Fifth Doctor produced a penknife from his pockets on the planet Samur, Tegan said that she'd always suspected him of being a Boy Scout. This caused the Doctor to respond that he "always tried to do his best". (AUDIO: Heroes of Sontar)
Ian Chesterton claimed the Horsehead Nebula in the Earth sky looked like "a boy scout's badge". (PROSE: Byzantium!)
The Twelfth Doctor mocked Colonel Ahmed of UNIT about being a "Man Scout". (TV: Death in Heaven)
Rhys Williams learned how to start a fire in the Boy Scouts. (TV: Children of Earth: Day Three)
Thomas Hector Schofield was a Boy Scout, which Ace teased him for. (AUDIO: The Flying Dutchman)