The Dalek Invasion of Earth - S2-E2
Other mistake: Ian has completely forgotten the distinctive shape of a Dalek. It's only when the Dalek starts speaking that Ian says to the Doctor, "that voice". Yet later when they are at the saucer, he talks to the Doctor about the new back of the Dalek having a disk on them now.
Answer: TARDISes are generally available for properly authorised use on Gallifrey; they're not usually assigned to a particular Timelord on a long-term basis. The Doctor stole his when he left his homeworld.
Tailkinker ★