The Doctor comes to the TARDIS and finds Clara calling the TARDIS phone in episode 7x06 "The Bells of Saint John".
The Doctor wipes the smushed spider off his foot outside the TARDIS and some Vikings arrive and take him and Clara hostage in episode 9x05 "The Girl Who Died".
The Doctor stumbles upon The Nightmare robbing a carriage in the middle of the night in episode 9x06 "The Woman Who Lived".
Bill is searching the woods for signs of the Ninth Legion when she encounters a young Pict who chases her into a pit trap in episode 10x10 "The Eaters of Light".
Source: dw-location-hunter — Tumblr
Sherlock and Watson follow Henry Knight to the caves where he saw the Hound in his youth in episode #202 "The Hounds of Baskerville".