Hike to Waterfalls, Lakes and Limestone Coves in Malham

Check out early to give yourself time for breakfast at Wensleydale Pantry, just a couple of minutes' walk away. They serve Full English breakfasts – regular and vegetarian – as well sandwiches, fresh coffee and – of course – pots of freshly brewed Yorkshire Tea.

Head back to the museum car park and boot up the sat nav – your next stop is Malham, with a quick detour for supplies on the way.

You'll spend most of the day walking in the Yorkshire Dales, so there will be limited facilities come lunchtime. Use this as an opportunity to have a picnic at one of the natural attractions you'll visit. Booths supermarket in the town of Settle will provide you with all the sandwiches, snacks and drinks needed.

Once back on the road, it's only another seven miles or so to Malham, where you can park at the Malham National Park Centre. This is a good starting point for walks in the surrounding area. Before you set off, step inside to browse its selection of guidebooks or to ask the staff any questions you might have.
The full details of the circular Malham walk can be found here.

From the visitor's centre, you can either join the Pennine Way leading south along Malham Beck, before tuning left to walk alongside the River Aire – this is by far the more scenic route – or walk up the road and cross the bridge to follow Finkle Street, then Gordale Lane. Either route will bring you to Janet's Foss, a picturesque waterfall named after the Queen of the local fairies who – according to legend – lived in the limestone-formed cave behind the waterfall. If you've brought your wellies, pop them on and wade in for a closer look.

From Janet's Foss, follow the path that climbs away up to the left of the waterfall to pass out through a kissing gate, turning right onto a lane. As the road bends around to the right, follow the footpath sign for Gordale Scar to the left passing along the very broad path, initially passing through the Gordale Scar private campsite. Keep on the path as it draws around the corner to reveal the Scar itself – a narrow cannon towered either side by sheer walls of limestone, hundreds of feet high. Gordale Beck tumbles down the ravine, forming one final waterfall over the tufa. The walk now heads up the waterfall, via a steep path to the left. There will be some scrambling at this point, but the route soon levels out before passing up some steps. At the top, the path swings around to the left and heads away from the valley below, eventually becoming flatter and grassier underfoot. You will then need to climb over a stone stile and continue straight, following the signposts for Malham Tarn.

Walk parallel to the wall until the track starts to pull away and veer down towards a small plantation, where Malham Tarn can be seen over to the left. When you've reached the plantation, turn left off the track before arriving at the cattle grid, following a path along the side of the plantation.
Stay on the path before turning right onto a track and passing through a gate to enter the land around Malham Tarn, which lies in a shallow basin along a major geological fault on a bed of Silurian slate. You can follow the track around the tarn as far as you want to go, before returning back to the gate – or complete a lap of the tarn and rejoin the trail using the lanes that circle it.

From Watersinks Car Park, follow the signposts for the Pennine Way and continue your walk towards Malham Cove. The scenery along this part of the trail is outstanding – take your time as you pass through dry valleys and rocky scars, and climb over more stone stiles along the signposted path that will eventually bring you to Malham Cove. Take care as you cross the limestone pavement on the top of Malham Cove – there are lots of large cracks in the ground, and it's a 230ft drop to the bottom, so don't go too close to the edge!
Keep walking along the cliff until you see a kissing gate. Pass through this and head down some steep man-made step before passing through another gate, down more steps, and then through one final gate. After taking a few pictures of awe-inspiring cove, take the footpath back to Malham, which leads alongside Malham Beck.

Once you've made it back into the village, stop to refuel at The Old Barn Tearoom. There will be freshly baked cakes and scones – including gluten free options – to pair with your tea.

Make your way back to Malham National Park Centre and begin the next leg of your road trip to the small market town of Grassington.

There is parking on site at Ashfield House, a five-star guesthouse that you'll need to book at least a few weeks in advance if you want to stay. Originally built in the 17th century, Ashfield House is hidden away behind a walled garden, and has earned its five stars not just for the beautiful setting and cosy rooms, but also for its second-to-none hospitality. Chat with the staff to find out more about the house and its history, and pick up some tips on things to do in Grassington. If you want to treat yourself, book the Garden Suite for access to your own lounge and enclosed garden.
Check in and put your feet up for an hour before heading out for dinner.

A five-minute walk will bring you to Grassington House, a hotel-restaurant that prides itself on "traditional luxury with a modern and eclectic twist". Most of the customers would tend to agree, raving about starters like the Seared King Scallops & Pea Purée, and mains like the Beef Fillet Mignon & Rag Pudding. Those on plant-based diets will appreciate the Wye Valley Asparagus – and everyone should spare a few inches of stomach space for the homemade marmalade ice cream.
There's also an extensive wine list to choose from, with French Merlots, South African Chenin Blancs and oaky Spanish Riojas all available. Needless to say, there are some great cask ales on offer, too – it's the Yorkshire Dales after all.
Opening Hours: Wednesday, Thursday, Sunday: 11:30 - 20:00 Friday, Saturday: 11:30 - 20:30 Monday, Tuesday: closed
Book your table here.

One more for the road? You'll more than likely be very comfortable at the Grassington House but The Devonshire is – believe it or not – even closer to your accommodation. Pop your head in to sample another of Grassington's finest watering holes, even if it's just for a nightcap.

Bed, at last. You'll sleep well tonight, whether you've gone for the Garden Suite or one of the seven double rooms, turned out with soft king-size beds and crisp white sheets.