From TARDIS Index File, the free Doctor Who reference.
Henry VIII succeeds his father and becomes king of England. At some point during his reign he meets the First Doctor. When the king throws a parson's nose at the Doctor, he throws it back. The angry king sends the Doctor and Susan to the Tower. Fortunately, the TARDIS happens to be in the Tower, and the two travellers escape. (DW: The Sensorites)