It was a Children in Need special that crossed over with some other TV show, and had the Rani doing...something...with time as an excuse for a lot of Doctors to meet up with a lot of companions in odd combinations. It's called Dimensions in Time, and I'm pretty sure it's still on YouTube.
I liked the changing companions thing. In fact, I've long thought they should do a DW anniversary special with companions of each Doctor instead of all the Doctors.
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...But if you really want to see it done epically check out "The Ten Doctors" by Rich Morris.
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