North Yorkshire is famous for its hiking possibilities and they are several. For a start, the last leg of the well-known Coast to Coast Walk (starting in Cumbria and taking in the Lake District en route) goes across the North York Moors and the finish is in Robin Hood's Bay. Secondly, the Pennines run like a backbone through the landscape in the west so the Pennine Way is another hike, this time north-south. If the latter one appeals to you, the village of Hawes in Wensleydale is a good pit stop on the Yorkshire leg of it. Good boots which you have already walked a fair bit in. Rain gear, a walking stick and good maps from Ordnance Survey.