Mr Pitcher won the seat, which was previously called Don Valley, after beating Conservative Nick Fletcher.
He polled 15,122 votes, beating Mr Fletcher by more than 2,300 votes.
Describing his first day as an MP, Mr Pitcher said: “A little lad who had nothing left to his name and was regularly bullied at school for the length of his trousers.
“I can tell you, there is nothing more stark, more devastating and actually more heartbreaking than seeing your mum’s face, a very proud lady with a primary focus in life to look after her babies. She was working tirelessly but still lost the home that we lived in.”
Speaking with his family in the public gallery above him, he said while those times “were rough”, he was fortunate to have the “very best and most inspiring women as role models around me”.
“And here I am today, July 18, on my 47th birthday, standing in the shadows of the greats, in this country that I love with every being, given the chance to make sure that I deliver that promise to myself and to my constituents, that that will never happen to a child again.”
Pitcher served on Hatfield Town Council in Doncaster before being elected, and worked as a partnerships manager for Yorkshire Water.
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