8.9 miles.

Explorer Map OL30, - Yorkshire Dales, Northern & Central Areas

Pick a fine day and this walk is absolutely unbeatable. The views are superb at all points.
There is some fairly rugged walking along the Pennine Way footpath that flanks Kisdon Hill, as the ground is very rocky and uneven. However, there is nothing to prevent a reasonably fit person enjoying all parts of the walk.
Navigation is very straitghtforward, with all sections of the route being well sign posted.

For a Memory Map overlay of the walk described, please select the above link.
(Overlay made with Version 5 of Memory Map)

Start from the small car park that is situated as you enter Muker village (before you cross the bridge). - SD910978.
Cross the bridge, and just before the Village Store take the lane on your right. You will find a finer post near the village Post Office that shows the public footpath to Keld. (There is another finger post to the right of this which directs you to the riverside footpath, - ignore this route.)
The footpath to Keld starts out along a narrow part-metalled track, climbing fairly steeply.
At SD909 981 take the left fork, and climb up the walled lane to where the Pennine Way footpath is indicated (SD903 985).
Turn right along this footpath, and follow it all the way to where the Pennine Way footpath descends to cross the River Swale by the footbridge (NY895 010). Continue along the Pennine Way for a short distance. Just by a farm cottage at NY895 012, take the left fork and continue along the bridle way to Currack Force.
Cross the River Swale at Park Bridge (NY885 015).
Turn left to continue along the road (CARE : traffic) to Keld.
From keld continue along the road for a short way until you come to the start of the "Coffin Road", - a rough track, at NY892 006.
Climb up this track and follow it all the way over Kisdon Hill until you arrive back at the point where you first saw the sign for the Pennine Way footpath at SD903 985.
If you want, you can now return to Muker along the track you first came up.
An attractive alternative, though, is to take the signposted Pennine Way footpath down into Thwaite.
From Thwaite, follow the waymarked footpath East back to Muker.