S20E21 : The King's Demons (1)

In 1215 at the castle of Ranulf Fitzwilliam, son Hugh is jousting on a matter of honor against Sir Gillis Estram, the champion of King John, when the TARDIS appears. The Doctor, Turlough and Tegan are immediately hailed as demons and welcomed warmly by the King. Something is wrong with this picture, observes the Doctor.