Use Grassington National Park Center car park.
(S/E) The walk starts from the back of the car park by joining the path (not the street) called Sedber Lane. Walk on this lane and turn left through the narrow gate in the wall just before Tin Bridge to join Dales Way.
(1) Follow the path on your right. Once you have passed the kissing gate, keep going on Dales Way, which is not the first path on your left, but the second one. It will lead you along the River Wharfe.
(2) At the suspension bridge, you can either pass the gate or not before turning left. At Mill Lane, turn right and then look for a signpost to follow on your left. You will pass between some houses before arriving on a shady path that climbs a little.
(3) Leave the main path and look for a smaller one going slightly left and runs along the fence. Cross the bridge and keep walking with some water on your right.
(4) Turn right, cross Hebden Beck and walk up to Hebden Road. Turn left and walk on the side of the road until you see a signpost on the right side. Cross carefully the road and follow High Lane for a while, until you are back in the city.
(5) Turn right in Low Lane and once you have passed the car park, take a sharp left to join Main Street. At the end of Main Street, turn left on Hebden Road and walk back to the car park (S/E)