Palestine was a region of Earth where the First Doctor and his companions shared an adventure in the 12th century. The Third Crusade was ongoing there at the time. (PROSE: Doctor Who and the Crusaders [+]David Whitaker, adapted from The Crusade (David Whitaker), Target novelisations (Frederick Muller, 1966).)
Palestine was known as Judaea during the age of the Roman Empire. (PROSE: The Last Days [+]Rebecca Levene, Short Trips (BBC Short Trips, 1998).) Despite this, the terms Judaea, Palestine and Israel were all used in various different contexts during the 1st century. (PROSE: Byzantium! [+]Keith Topping, Past Doctor Adventures (BBC Books, 2001).)
History
In the 12th century, King Richard I of England fought Saracens in the Crusades in Palestine. He was assisted by the Doctor, Ian, Barbara and Vicki. (TV: The Crusade [+]David Whitaker, Doctor Who season 2 (BBC1, 1965).)
In 1948, Wilfred Mott served as a private in the British Mandate of Palestine, which was dissolved that year. (TV: The End of Time [+]Russell T Davies, Doctor Who Christmas Special 2009 and New Year Special 2010 (BBC One, 2009-2010).)
When the Third Doctor and Jo Grant were in Greece in the 1950s, he told her that at this time the Brigadier was in Palestine. (PROSE: The Seismologist's Story [+]Peter Anghelides, Short Trips: Repercussions (Short Trips short stories, 2004).)