This walk starts from the Matlock Bath station car park and is a lovely 3.3 mile circular walk via High Tor, Riber and Starkholmes. It would be considered as unsuitable for young children due to steep drops and cliff edges, and it also includes some fairly strenuous uphill sections. Please see the pdf below for full route details.
Map & Directions
Matlock is just off the A6, it lies approximately 20 miles north of Chesterfield