i don't think she is :/ or maybe I'm wrong :)
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Yes, Rose returns from the parallel world at the end of episode 12, at the end of episode 13 The Doctor returns her and clone Doctor to her world to live their lives together.
Journey's End (series 4 episode 13). - Edit: Episode 14 is Journey's end.
New Earth (series 2 episode 1).
Rose and the clone Doctor kiss in Journey's End (series 4 episode 13). Although Rose and the real Doctor have kissed, Rose was possessed by Cassandra at the time.
The actress Billie Piper played the companion, Rose Tyler, in the show Doctor Who. Billie piper acted in seasons 1 and 2 as the doctor's companion. She also acted in seasons 4 and the episode called The Day Of The Doctor as bad wolf.