The way I got into Doctor Who was reading the Face of Evil novelization from a bookstore that never got rid of its old books, then watching a randomly selected series of stories from a blockbuster (yes I'm old) beginning with Logopolis, then reading the Eighth Doctor novels starting with Paul Magrs's The Scarlet Empress. So basically you can get into Dr Who however you want and the less sense it makes the better, maybe
I'm eternally thankful for Paul Magrs for blowing my mind and introducing me to queer theory and magical realism as a teen through the medium of tie-in novels for a cancelled television show