A charity walk was arranged by The Huntsman pub in Guisborough which my daughters friends went on - hearing about this afterwards, I quite fancied checking it out for myself. It was indeed a lovely circular walk although the day I picked was extremely windy and made for difficult walking in exposed locations. It's not a difficult walk, but at 11 miles - it's reasonably long and care should be given with regards to navigation across the moors.
3D outline of route
Parking