Parking can be found directly opposite the remains of Pendragon Castle in the Mallerstang Valley (NY782026). This is South of Kirkby Stephen. The well tarmacked parking has enough room for about 10 cars parked sensibly and at a right angle to the road. Best to reverse park in so it is easy to drive out when leaving.
(S/E) From the parking, cross the road to the gate leading into the field where Pendragon Castle sits beyond its partial moat. You can explore the remains at the start of the walk or on your return. When you are ready, take the minor road on the right of the gate and follow this to cross a bridge. Look our for a wooden finger post on the left signposted 'Shoregill'.
(1) At the post turn left and follow the path. You will quickly cross a plank bridge and the immediately go through a gate. The path veers away from the river and you will cross two stiles in quick succession; the first is broken but it is easy to step over the wire on the right of it. The second will have a large puddle in front of it after heavy rain and a log has been laid to access the stile. It's only a couple of steps but take care as it will be slippery. Now cross the bottom of the field passing a ruined barn to Riggs Gill which is crossed via another plank bridge. You will then soon arrive at a gate stile in the stone wall. Cross through into the next pasture, cross Moss Gill and walk to another stile, cross through this. Walk in the same direction across the next field to a large wooden gate on the left and beyond this a stile with marker. A stream runs in front of both and after rain it is easier to go through the wooden gate rather than across the stile. Turn right after going through the gate and follow the path to cross into the next field, then head for a gate/gap in the bottom left hand corner, pass through this into a further pasture. Walk with the wall on your left to a white metal gate. Take the path on the right of the gate to arrive at a second white gate. Go through this to join the tarmac track in the delightful hamlet of Shoregill.
(2) Do not take the narrow lane directly in front of you, instead turn left and follow the tarmac track down to the river side. At the bridge (3) you have two options; we took the path on the right before crossing the bridge which leads through a wood with the river on the left. It crosses a small stream and then goes through a pasture (which is very wet and boggy after rain) to pass through a gap in a wall and to the road above some farm buildings. If it is wet underfoot and has rained for a few days then the drier option is to cross the bridge and follow the tarmac track to the farm track on the right and walk up this to the same point. In front of you will be a large gate across the track labelled Sycamore Tree Farm.
(4) The path splits here. The left hand path goes through the farm building to follow the side of the river to Thrang Bridge and then it ascends to Hazelgill, this would be a good option after a dry spell but after rain take the following route. Go through the gate and walk up to the farm, which is in front of the Settle to Carlisle Railway line. Walk behind the farm and pass through two metal gates which will be tied closed with string rather than a latch. Continue along the track with the railway embankment up on your right, you will see signals and bridges as you walk. Pass a ruined barn and continue to a gate and stile next to a second ruined barn. Pass through and cross a gill and then pass through to a second gate and stile. Now walk directly across the field to a stone stile. Cross over and walk to the farm buildings. The path leads beside a barn and drops into Deep Gill which is easy to cross, it ascends and passes across the next field with a wall on the left. In the corner is a stone stile, cross this.
(5) The path across the next field is a little blind but if you use the mobile phone mast as a landmark and walk towards it, you will see the narrow gap in the stone wall; cross over. Now walk with the wall on your left, to pass the mobile phone mast, towards Hazelgill. There are no obvious gates or stiles leading to the road but the following works well. You will see a ruined barn on the right and next to this a ruined house with a triangular pediment above the door. Next to the house the wall has collapsed and there is a wide gap. Go through the gap and cross the field to a wooden gate, go through this and join the Pennine Way.
(6) Turn right and follow the track uphill to pass through a gate and then through a second gate leading to a tunnel under the Settle to Carlisle Railway line. Keep following the track which turns back in a northerly direction and leads up to some stepping stones (ford) across a gill. After this pass through another gate. The track now starts to become more of a path, it turns to the west and ascends gently to a further wooden gate. Pass through and follow the path to a wooden marker post, beyond which you can see a section of limestone pavement on the fellside. (7) This is first of four marker posts, follow the path and posts, ascending more steeply to the corner of a stone wall at High Dolphinsty.
(8) Turn left and follow the obvious path which ascends gently and first and then more steeply to The Nab, take care in mist as there and increasingly steep drops to your left as you ascend. From The Nab follow the path (almost flat) to the summit of Wild Boar Fell. When you have soaked up the views return the way you came, back to (8)
(8) Do not go through the gate, that is the Pennine Way. Instead walk with the wall on your left towards Low Dolphinsty and gently ascend Little Fell to some stone cairns just before the summit. (9) Keep following the green track which joins an obvious stone wall on the right. The path now descends to a swallow hole where it passes between the swallow hole and the wall. You can hear the water falling into the limestone cavern at the top of the swallow hole and after rain, if you stand beside the wall, you can hear the water running underground. Keep following the path/wall; it turns to the east and descends, with views of the castle, to a bridge over the Settle to Carlisle Railway line.
(10) Follow the track to the minor road, turn right and walk down (passing over a cattle grid) to the finger post at (1). Now continue along the road and back to the parking (S/E).