There is a nice circular where you park at Bowes, do God's Bridge and spend a bit of time on the Pennine Way, cut north through the underpass and do Ravock Castle and then take the track at the bottom of Deepdale to bring you back around. Lovely walk on a day with a bit of sunshine.
Also if you want to look at nearby areas it's worth looking at Greta Bridge, the Brignall Banks circular down to Rutherford is a challenging walk if it's been wet recently but stunningly beautiful. I did it a few years back when the banks were covered in flowers, the water flowing slowly and there are a lot of challenging sections where the bank is more than just a boring plod around, bridges criss-crossing flowing water and overall a bit of a hidden gem. If you're after a short version there's a bridge you can cross by the mill which cuts about a quarter off the distance.