Best to get the climbing done first so climb on to Whitcliffe Scar with its excellent views over Swaledale. After visiting the hamlet of Marske return via the River Swale for an enjoyable circuit.

Leave Richmond on the main road heading west and just after a second sharp kink in the road (167011) follow a minor road heading uphill. After 250m and leaving the houses on either side the road turns in to a wide track where there is a sign for the Coast to Coast. The Coast to Coast has recently been designated a National Trail, increasing its public awareness and no doubt signage on its route. I am not sure Wainwright would approve!

Follow this lane as it gradually climbs and turns west, enjoying the views south over the River Swale.

Just past some houses a footpath is signed directly uphill through a field. Recently improved, the footpath passes a few new kissing gates before opens up above the limestone scar. A geographer's dream, as the views reflect the ice age 15,000 years past with the U-shaped valley and River Swale nestling below.

Part way along the scar the path turns through the wall to continue on the valley side. Here is a Monument to Williance’s Leap. Here in 1606 Robert Williance and his horse careered over the cliff, falling 200ft. Robert survived (just) but the horse sadly died. The path and views are continued for another half mile before it makes a circuit of Deep Dale.

The path drops through woodland to West Applegarth Farm where the path returns to a farm track. Follow this (again part of the Coast to Coast) for half a mile before taking the footpath downhill (leaving the track) through the fields in to Marske.

The attractive village of Marske was once the centre of a large mining community, probably going back all the way to Elizabethan times, certainly the bridge does. Marske Hall itself has a colourful history (but difficult to get at through the trees) but there is a more accessible, pretty church and village hall (if you are lucky they will be serving tea).

From Marske return to West Applegarth Farm. Continue for 400m along the main bridlepath before the farm at Low Applegarth marks a turn downhill towards the river. The footpath is just before the buildings. Head through fields to the banks of the River Swale.

The following two miles are a mix of riverside walking, woodland walking, a caravan park and a pleasant lane before arriving back in Richmond.

Start: NZ 169011. There is plenty of car parks in Richmond with street parking on the outskirts near the start of the walk.

Difficulty: Medium. On good tracks and paths, some climbing but none steep.

Refreshments: Richmond has an excellent choice of pubs, cafes and shops (and a castle).

Be Prepared: The route description and sketch map only provide a guide to the walk. You must take out and be able to read a map (O/S Explorer 30) and in cloudy/misty conditions a compass (essential on this walk). You must also wear the correct clothing and footwear for the outdoors. Whilst every effort is made to provide accurate information, walkers head out at their own risk.

Jonathan also runs Navigation Courses for Beginners in Long Preston or Leyburn, those wanting a Refresher or wishing to learn more Advanced skills. Next available date is the week of April 26 and 27.

He also takes groups on Guided days over many of the ‘Dales 30’ mountains. Dates on the website.

Where2walk.co.uk features hundreds of walks with descriptions across Yorkshire and beyond, from easy strolls to harder climbs. Visit the website for details of all these walks, guiding days and navigation courses.