Doctor Who 6th Doctor: 01. Voyage to Venus

Professor Litefoot and Henry Gordon Jago are accustomed to the murky fog of Victorian London and the palatable pints of half and half at the Red Tavern. They are not used to travelling through time and space with their old friend the Doctor.

And now they fined themselves whisked off to the planet Venus in the distant future, at a time when warrior women rule from a floating city in the clouds. There's a mystery here, one that the Grand Empress Vulpina intends to keep secret. Even if it means destroying these visitors from the long-dead planet Earth...