This can be hard work, especially if it's hot. But the views on a clear day are as good as most in England (as long as you don't mind looking at Teessside).
Through Carlton, take the Chop Gate road and climb to near the top of Carlton Bank. The Lordstones car park is on your left, and once inside you should turn right (it's for cafe patrons only on the left). On leaving turn right for a short distance along the road. Take the foopath on the left, and where the Cleveland Way goes straight on, turn left onto a track that skirts the gliding club land to your right.

As you do so, look to your right and note the trig point and another lump of rock at the top of Carlton moor. You'll be back there for a closer look later (above), probably knackered. Crossing the bleak moor, make for Brian's Pond, passing it on your right, before using the map to help you find the footpath that drops down between rocky outcrops into Scugdale, arriving at the narrow road through the dale at Scugdale Hall.

Turn right and follow the road, possibly noticing rock climbers on crags high to the right. Alan Hinkes learned all he knows here ... it didn't take long. At Raikes Farm, beware the mad dogs (which are usually chained up) and if you feel brave, take the footpath cutting across fields.

The scaredy cats usually follow the road down a hairpin dip and back for another mile or so to Huthwaite Green (a farm and a phone box).
Straight after the buildings, turn right through an ummarked metal farm gate and follow the track across a couple of fields, before turning right with a wire fence and hdge to your left and climbing to the quaintly named Perish Crook. Turn left in front of the house and follow the track as it turns into a narrow road.
Continue into Whorlton, past the church on your left and the castle ahead on the right as the road takes you into Swainby.
When you reach the t-junction next to the church, turn right for the Black Horse (good beer and good food) the Travellers Rest (food OK, beer .... cask), or right for the Miners Arms (not very welcoming last time we were there).
With refreshments on broad, take the road that leaves the village to the south east, climbing gently past houses until the road turns sharp right. Here go straight on and follow the path to the Cleveland Way, where you turn left and follow it through woods and back down into Scugdale, preparing youself for a climb that is more difficult for every pint you've had.
As you cross the Scugdale road, you're at about 300ft above sea level, but the Cleveland Way takes your first through woods, then over barren moorland to eventually reach the trig point at the top of Carlton Bank which is more than 1,200ft above sea level (told you we didn't like metres).
It's hard work, but take it steady and on a clear day you'll get some great views towards the Pennines on your left swinging right over Teesside to the North Sea on your right.