Who was with VegetA when he enter earth??

When Vegeta first arrived on Earth, he was accompanied by Nappa, his loyal Saiyan comrade. They came to find the Dragon Balls and eliminate Goku. Raditz (Goku's brother) had already come to Earth earlier and was killed. Freeza was the galactic emperor they served but did not accompany them to Earth. Piccolo was defending Earth, not allied with Vegeta at that time.