S10 E3: Thin ice
Bill: Can't you steer this time?
The Doctor: I told you, you don't steer the TARDIS, you reason with it.
Bill: How?
The Doctor: Unsuccessfully, most of the time. She's a bad girl, this one. Always looking for trouble.
S6 E4: The Doctor's Wife
The Doctor: You didn't always take me where I wanted to go.
Idris/TARDIS: No, but I always took you where you needed to go.