The Third Doctor > Jo Grant > Atlanteans > Kronos > Minotaur > Alistair Gordon Lethbridge-Stewart > Captain Mike Yates > Sergeant John Benton > U.N.I.T. > The Master > Medieval Knights
The Master summons a time pigeon and goes back to Atlantis where he finds a minotaur and other plot points.
The First Doctor > Barbara Wright > Ian Chesterton > Vicki Pallister > Medieval Knights > King Richard the Lionheart
The troupe arrive in 12th century Palestine where Doc steals clothes, Ian is knighted, Vicky is inconsequential and Barb gets kidnapped (as usual)