Twelve days in Yorkshire: York, the Dales and the wild coast

This is where your journey begins. You'll head towards the Dutch North Sea coast, where the ferry to England departs in the evening.

The overnight ferry to Hull departs from the Europoort ferry terminal. Check in in good time, then you can eat on board, watch the sunset over the North Sea and sleep in your cabin. By morning you'll already be in England.

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Overnight stay in an outside or inside cabin on board. The crossing takes all night, so you'll arrive well-rested in Hull the following morning.

Booking ahead is often cheaper here

The ferry docks in the port of Hull in the morning. From here it's only a short drive to York, leaving plenty of the day to settle in.

A magnificent Baroque castle with extensive gardens, lakes and sculptures, familiar from film and television. The children can roam the grounds while you explore the grand rooms and the domed hall. A good first history stop on the way to York.

Booking ahead is often cheaper here

For the next few nights you'll settle into a holiday flat near York's old town. From here you can walk to the city walls, the lanes and the station, with a peaceful base to retreat to.

Booking ahead is often cheaper here

This huge Gothic cathedral is among the largest in northern Europe and impresses with its stained-glass windows and lofty choir. If you like, climb the 275 steps of the Central Tower for a view over the whole city. A strong start to your day in York.

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This famous narrow lane with overhanging timber-framed houses is considered one of the best-preserved mediaeval streets in Europe. The tightly packed shops and leaning walls are a particular hit with teenagers. From here it's easy to wander on through the old town's other lanes.

A time-capsule ride takes you back to Viking-age York, right through reconstructed streets complete with sounds and smells. The exhibition is built on genuine archaeological finds and brings history vividly to life. Ideal for introducing the children to old Jorvik.

Booking ahead is often cheaper here

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Along the almost fully intact mediaeval city walls, you can walk a good stretch around the old town, with repeated views down onto the gates and the Minster. The circuit is free and adds a bit more movement to the afternoon. A lovely way to round off your day in the city.

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On the banks of the River Wharfe lie the romantic ruins of a 12th-century Augustinian priory, surrounded by wide meadows and woodland. You can cross the river on stepping stones and walk well-marked paths — a great experience, especially for the children. History and nature sit right side by side here.

A short woodland path leads upstream from the abbey to the Strid, where the Wharfe forces its way through a narrow rock channel. The roaring water is impressive, but the smooth rocks are off-limits for safety reasons. A lovely, shaded walk through ancient oak woodland.

For the coming nights you'll move into a holiday cottage in or around Grassington, right in the heart of the Yorkshire Dales. From here, Malham, Aysgarth and the Dales' walking trails are all within easy reach.

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A massive curved limestone cliff rises here almost 80 metres, once a waterfall. Steps lead up to the famous limestone pavement at the top, familiar from the Harry Potter films. The climb is a bit of a challenge but rewards you with sweeping views over the Dales.

Just a short walk from Malham, this dramatic ravine opens up with overhanging walls and two waterfalls. The path there leads through green pastureland and is easily manageable with teenagers. Those who are experienced and keep dry can scramble up a little way at the waterfall.

The River Ure tumbles here in three stages over broad limestone shelves, a well-known natural spectacle in Wensleydale. A well-laid-out circular path links the upper, middle and lower falls through woodland and meadows. After rain, the falls thunder especially impressively.

This mighty 14th-century castle is remarkably well preserved and was once the prison of Mary, Queen of Scots. You can explore battlements, dungeons and rooms, and in summer there's often falconry or archery to watch. A real knight's-castle stop for the history fans.

On the way to the coast you'll cross the wide, often purple-blooming heather moorland of the North York Moors in late summer. Around the pretty village of Hutton-le-Hole it's a good spot to stretch your legs and watch sheep grazing on the open pastures. A completely different landscape from the green Dales.

This old fishing town welcomes you with its tight harbour, colourful houses and the smell of fish and chips. On your first afternoon you can stroll along the quay and enjoy the view of the abbey high above the town. A relaxed start to your days on the coast.

For your days on the coast you'll move into a holiday flat in Whitby, ideally with a view over the harbour or rooftops. From here you can easily reach the abbey, the beach and the coastal excursions.

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The ruins of the once-mighty abbey stand dramatically on the cliff above the sea and once inspired Bram Stoker's Dracula. The 199 Steps lead up from the old town, and at the top a sweeping view awaits over the town and the North Sea. The exhibition explains the site's long history.

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The famous staircase links the harbour and the abbey and is an experience in itself, lined by the old graveyard of St Mary's Church. From the top you look out over the red rooftops and the harbour. The children enjoy counting the steps along the way.

In the narrow lanes of the old town you'll find shops selling local jet jewellery, ice-cream parlours and fish restaurants side by side. In the afternoon you can eat fish and chips on the quay, visit the beach, or take a short boat trip from the harbour. A relaxed day in town with sea views.

This steep fishing village clings to the cliff with its winding lanes and steps leading down to the sea. At low tide you can search the rock pools on the beach for crabs and fossils, fun for any age. Park up top and walk down, as the lanes are very narrow.

This former smuggling and fishing village sits picturesquely in a narrow bay between high cliffs. Colourful houses, a small harbour and the stream running right through the village give it its charm — it's here that Captain Cook once got to know the sea. A quiet, very photogenic coastal spot away from the big tourist crowds.

A historic steam railway chugs through the valleys of the North York Moors, past heather, woodland and old stations. The ride in nostalgic carriages is an experience for the whole family, with stops along the way inviting you to get off and explore. A relaxed but special part of the programme.

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On the Cleveland Way coastal path you can walk a stretch above the cliffs between Sandsend and Whitby, with sweeping views over the North Sea. The wide sandy beach at Sandsend then invites you to unwind and go barefoot. An active finish to your days on the coast.

On the way to the port it's worth stopping in Beverley, with its impressive Gothic minster church that rivals York Minster for beauty. This pretty market town is a good spot for lunch and a final stroll. A peaceful finish before the crossing.

In the evening, the overnight ferry departs from Hull harbour back to Rotterdam. After checking in, you can eat on board and catch a last glimpse of the English coast before heading to your cabin.

Booking ahead is often cheaper here

Overnight stay in the cabin during the night crossing back. The following morning you'll arrive back at Rotterdam-Europoort.

Booking ahead is often cheaper here

The ferry docks again in Europoort in the morning. From here you'll take the motorway back towards Bremen and complete your round trip.

Halfway between Rotterdam and Bremen, it's worth stopping for a bite to eat and to stretch your legs. After that it's just over an hour to home.

In the afternoon you'll arrive back in Bremen, bringing your Yorkshire round trip to an end. In your luggage you'll be carrying home York, the waterfalls of the Dales and the cliffs of the North Sea.

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