Rose was with the Doctor when he regenerated. Both Rose and her mother
were assumed killed during the confrontation between the cybermen and the
daleks.
Mickey decides that he will join the crew of the TARDIS after
the Sycorax invaded over Christmas. He left to help rid an alternate Earth of
the threat of the Cybermen
Mickey rejoined the Doctor and Rose in Army of
Ghosts and, along with Rose and Jackie, is forced to return to the alternate
earth along with the altEarth Peter Tyler in order to seal the transdimensional
breach at the end of Doomsday.
In the adventure 'School Reunion', the Doctor, Rose and Mickey are joined by Sarah Jane Smith and K9 once more for that adventure. K9 gave his existence to save the planet
Dr Martha Jones joins the Doctor when the hospital she was working in was abducted and taken away to the moon. She is a cousin of a member of Torchwood London
We first meet Donna Noble in a Christmas Special, but she doesn't become a full time companion until the Adipose Incident. She leaves the Doctor after losing her memory and being inavded by the Time Lord's powers.
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