This comes out onto the road at Hestholme Bridge, but take the first path back to the riverside again
Stepping stones at Stony Stoop Lane. (don't cross here)
then continues down the riverside all the way to Lord's Bridge
Cross the bridge and immediately turn back upstream on the north bank
The path runs through the field until it joins the main path at the junction in west wood (not up through the edge of the wood as shown on the map) After west wood the path crosses several fields to come out in the village of Redmire.
Look out for the path signed to Castle Bolton at the north end of the village
Bolton Castle, enter by the north door - you can go through the cafe and shop without paying to enter the ruins
From the castle, head south on the narrow road, branching right on a path to Wheeling Bridge, then past High Thoresby and Hollins House
This path brings you through St Josephs wood past the Aysgarth Falls.
Cross the bridge to return to cars
Upper falls from the bridge