Susan Foreman

Susan Foreman is a Time Lady, and the Doctor's granddaughter.

In Canon
Susan Foreman is introduced in the very first Doctor Who episode, The Unearthly Child. She is clearly stated to be the Doctor's granddaughter, and has been established over the course of the series as his natural granddaughter, which presumably makes her a Time Lady. Her parents have never been introduced in any media.

In Badfic
In badfic, Susan is shipped with a number of people, including her relative Jenny. Depending on one's views on cloning and canon, Jenny is her great-aunt, her aunt, or possibly her mother.