From The TV IV

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The Brigadier first appeared as a lowly Colonel in the 1968 story Web Of Fear alongside Patrick Troughton as the Doctor. He featured most often during Jon Pertwee's tenure but UNIT and the Brig were being phased out and he only appeared in two Tom Baker stories. He "retired" and became a maths teacher at a boarding school where he met Peter Davison's incarnation of the Time Lord and was finally wheeled out for a good send off in the Sylvester McCoy adventure, Battlefield.