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A map of the route followed has been plotted on the Ordinance Survey mapping website, By selecting the ink below you will be taken to this map, - complete with distances and heights marked on the route.

OS Link

The route shown is on a standard map. To view the route on an Ordinance Survey map, select the icon in the lower right of the screen. If the route is displayed on a 1:50 OS map, zoom in to see the details on a 1:25 OS map.
There is also the option to view the route in a satellite image.

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Start from the car park along the Coast Road in Marske.(NZ631 231).
Take the footpath down to the beach then walk all the way to Saltburn.
When you reach the Promenade in Saltburn, follow the Promenade to the pier.
The return takes the promenade to the valley of Hazel Grove.
Instead of continuing up the valley, take the steps on your right which take you to the cliff top and the England Coast Path.
Where the path dividea, go straight ahead on the Footpath to Windy Hill farm, then continue down Windy Hill lane.
Turn right at the bottom of Windy Hill Lane, and at the bottom of this street take the footpath Northwards.

Where this footpath meets the Cleveland Way, take the footpath on the left (NOT the Cleveland way) and follow it to St. Germain's Lane.
Cross over St. Germain's churchyard and then head to Church Lane.
Take the cut that brings you to the Coast Road and the footpath back to the car park from where you started.