Coug
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That's the obvious answer. I was wondering if they ever gave a logical reason within the context of the show.
For instance, DC comics has stated that Earth is so important because it is the center of the Multiverse and that is why it attracts alien invasions and such.
There are several theories out there as to why.
The first doctor was mean, rude, and being protective of his granddaughter Susan was his only redeeming quality. He took a human couple Ian and Barbara, afraid they were going to reveal the secret of his Tardis after they followed Susan home. At some point they ran into trouble and Barbara saved the day. He was humbled by this and grateful and so it began.
Another theory was that his mother was human and her name was Penelope Gate. Penelope fell in love with a Time Lord and they had a child, The Doctor.
Another theory is that he was fascinated with humans, how they were so resilient and evolved so quickly compared to other species. A monologue from an old Who episode:
[youtube]https://www.youtube.com/watch?v=_yBS2EZFduI[/youtube]
Another theory was that he was exiled to Earth by the Time Lord without his Tardis for some time and he strengthened his bond with humans while being there. Him being exiled to earth did in fact happen.