Jacqueline Hill did it the other way around. In November, 1963, she was the first regular cast member to be seen on screen in the first episode of Doctor Who, as Barbara Wright, Susan’s teacher who ended up travelling the universe in the TARDIS. Barbara and Ian left the TARDIS and the series in June 1965.
But Jacqueline Hill was not done with
Doctor Who. In October, 1980 she returned to play Lexa in the Fourth
Doctor story, Meglos.
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