Use Nether End car park in Church Lane.
(S/E) From the entrance of the car park, turn right on Church Lane and right again to join the first path on your right.
(1) Pass the gate and go straight on the main path, which is called Derwent Valley Heritage Way on some maps. You will pass two intersections and you will go straight in both cases.
(2) Take the path going slightly left, cross carefully the road and walk to Chatsworth House and to the Stable Block if you are interested in.
(3) From this point, walk along the back of the car park and turn left when you see the main path going slightly down.
(4) Turn left and then right at the next intersection. You are now on the same path you came from. Walk back to the car park (S/E)