In pictures: The Cleveland Way
The Cleveland Way is 110 miles (177 km) long. The walk starts at the cross at the Market Square in Helmsley and finishes on Filey Brigg.
Many historic sites can be seen along the Cleveland Way including Rievaulx Abbey. The first large Cistercian church built in England was founded in 1132 but destroyed in the 1530s by Henry VIII.
The White Horse at Kilburn is another landmark. The horse was designed and financed by Thomas Taylor from Kilburn, and cut in 1857. The work was done by the village schoolmaster, John Hodgson, and 20 helpers.
The Hand Stone lies alongside the Cleveland Way on Urra Moor, the highest moor in the North York Moors. The stone is one of many pre-historic remains on the moor.
Just off the Cleveland Way is the village of Great Ayton, which was home to the young Captain James Cook.
Roseberry Topping is known as Yorkshire's Matterhorn! A hard sandstone cap has protected the softer layers from erosion. It was partly formed by man as alum, jet and sandstone have all been mined from the hill.
After leaving the moors the Cleveland Way begins to follow the Yorkshire Coast. Arguably the village of Staithes is one of the most picturesque sights along the route.
From Staithes the route continues down the coast towards Whitby.
Stunning views out to sea are a highlight of the Cleveland Way's coastal route.
The coastal walk offers a real chance to explore the hidden industry of the Yorkshire Coast from fishing to mining.
Scarborough has a long history of tourism and has plenty to offer the weary walker.
Filey Brigg marks the end of the Cleveland Way. If you've made it this far then fish and chips in Filey might be the perfect reward.
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