From the car park, walk up the road, with the wall on your left, towards the abbey. Turn right just after the Whitby Brewery Tap at the Cleveland Way and Robin Hood’s Bay sign. Follow the path as it winds along the coastline. Just beyond the National Trust ‘Saltwick Nab’ sign, the path leaves the coast along a caravan site road.

Continue past shops and a café. Ahead is a wall with two turreted gateways. The Cleveland Way continues through the left gateway, but bear right through the other, following the road. Just before a telegraph pole on the left, turn right at a waymarker onto a field-side path. Follow the path through three fields and over a stile onto the main road.

Turn left down the road. Where the wall ends, take a path to the right, following the line of telegraph poles. Eventually it goes beside a wall and reaches a kissing gate into a lane. When the lane swings right, go straight ahead beside a fence, down a paved path, to reach a road.

Cross and go down the road opposite, swinging right into The Ropery. Turn left down a cobbled slope that winds to descend to a road. Turn right, then, just after the car park go left to pass the Captain Cook Memorial Museum. At the end, turn left and go over the swing bridge, then right along the quayside. Follow the road as it bends left and then right. At the right-hand side of the Star Inn turn Ieft, up a steep narrow, stepped lane, Bakehouse Yard. At the top, turn right, up the hill. At the summit, East Crescent is to your left.

Climb to the ridge next to the East Terrace overlooking the harbour, then walk along, to go through the Whalebone Arch and descend steps onto the road. Turn right and go down to the harbour, along the quayside and back over the bridge. Just beyond, turn left down Sandgate and onto the Market Place, passing left of the Town Hall and turning left along Church Street.

As the street bends right, go straight ahead to see Tate Hill Pier. Follow the road round into Sandside and climb the 199 steps to the churchyard. Leave the churchyard by the iron gate at the far end, bearing left past the abbey to return to the car park.