The Second Doctor with his companions and friends: Zoe Heriot; Jamie McCrimmon; Victoria Waterfield; Ben Jackson; Polly Wright; Professor Edward Travers; Brigadier Alistair Gordon Lethbridge-Stewart; Time Lady Serenadellatrovella (or "Serena"); and the Doctor's grandchildren John and Gillian.
Lady Serena hails from Terrance Dicks' novel "World Game". More info on her here: [link]
John and Gillian accompanied the first and second Doctors through most of their adventures in TV COMIC. More info on them: Doctor_Who