A long walk (9.5km, or nearly 6mls) but with plenty of variation, and lots to see. By staring at the top of Biggin Dale you can break the walk at one of the pubs in Hartington which makes the last leg of the walk much easier to tackle. (I can personally recommend the Devonshire Arms)
Highlight of the walk must be the Peaseland Rocks at the point where Biggin Dale and Wolfscote Dale meet. The strange rock pillar in the Pike Pool in Beresford Dale is also worth looking out for.