The Dales are made for short days out. The valleys are narrow and the paths are well trodden, so most family-friendly routes come in at between one and four miles, with an obvious turning point if energy runs out. Stiles, packhorse bridges and drystone walls give children something to aim for every few hundred metres, and there is nearly always a village, a tea room or a shallow river to paddle in at the end. Better still, you can be up on a limestone plateau one minute and back at the car park with an ice cream the next.
The trick is to choose circular routes rather than out-and-back lines, keep the climbing gentle, and plan the day around a picnic spot rather than a summit. A four-mile walk with a paddle and a sandwich in the middle will beat a two-mile slog with nothing to look at.
Malham is the classic family day out, and it earns the reputation. From the village, an easy lane drops through woodland to Janet's Foss, a small waterfall with a pool that children find irresistible. For a short day, turn back here: it is roughly 1.5 miles there and back, almost flat, and perfect for little legs.
If everyone is still keen, carry on to Gordale Scar and then climb gently onto the limestone pavement above Malham Cove before dropping back into the village. The full circuit is about four miles with one steady climb. Keep hold of hands on the pavement itself, as the grykes between the blocks are deeper than they look, and keep well back from the edge of the cove.
The three falls at Aysgarth — Upper, Middle and Lower — are linked by a surfaced woodland path that is manageable with a pushchair in dry weather. The whole round trip is around 1.5 miles, with wooden viewpoints at each stage and plenty of benches for a breather and a snack.
Children love the noise and spray of the Middle Falls, but the rocks are greasier than they appear and the currents are stronger than they look. Admire from the viewing platforms rather than the water's edge. The village has a couple of places for lunch, and there is a meadow by the river that makes an excellent picnic base.
Distances here are forgiving, and every one of these villages has a pub or a shop within a few minutes of the path. That matters more than you think when you are negotiating with a tired six-year-old.
The best picnic spots in the Dales tend to be flat, grassy and close to water: the meadow below Malham Cove, the banks at Burnsall, the green at Kettlewell, and the field beside the river at Aysgarth. Look for a spot with a wall to lean on and a bit of shade, because there is very little cover on the limestone tops.
To keep momentum, turn the walk into a game. Count the stiles, spot the sheep breeds, take turns reading the map, or set a target of reaching the next packhorse bridge before the next snack stop. Children walk far further when they have a job to do and something to find.
Pick one route, pack sensibly, and let the day be as short as it needs to be. The Dales will still be there next weekend, and a happy first walk is what turns a family into a walking family.