The Brigader
The Brigader had a 'true military mind'. If it poses a threat five rounds rapid should deal with the brute. Of course, that line of reasoning didn't work very well in the Doctor's world. ("Just once I'd like to meet an alien menace that wasn't immune to bullets.") He often made things worse with his stong arm tactics and the Doctor was quick to point this out. Still, although the Doc. and the Brig.'s friendship had it's ups and downs, they remained mates all the way through the series. Every single incarnation of the Doctor met the Brigader except Colin Baker.
Sargent Benton
Sargent Benton served under the Brig. at UNIT. He had a very "happy" personality even though he often got into trouble for smiling on duty. He was with the Brigader even before UNIT was formed. Before the Brigader was Brigader, actually. He and Mike Yates were the only officers under the Brigader we actually got to know. Bit like 'Dad's Army' in that respect... Any way, the Sarg. was lots of fun, especially in "The Green Death". ("Here pussy, pussy, pussys, come get your lovely din'dins!") --You'd have to watch the ep. ...
Mike Yates