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Several stories have involved the RMS Titanic in one capacity or another.
The ship is first mentioned in the series in story number 97, The Invasion of Time. The Fourth Doctor (Tom Baker) and a fellow Time Lord, Borusa, came across an article in the Daily Mirror which mentioned the liner's sinking. The Doctor immediately promises that he had nothing to do with Titanic's sinking.
The ship was not mentioned again until the Seventh Doctor (Sylvester McCoy) encountered in the novel, The Left-Handed Hummingbird. He and his companions were aboard when Titanic struck the iceberg and - as mentioned in a subsequent comic strip - one of them actually caused the ship to go down.
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The Tenth Doctor (David Tennant) encountered a starship replica of the Titanic in Voyage of the Damned after it collided with the TARDIS. This incident was also seen in the mini-epsiode Time Crash, which unites the Tenth Doctor with the Fifth Doctor (Peter Davison) and threatens to end the universe.
Will the Doctor meet up with the Titanic again?
Only time will tell.