Well if u can find your way through from Harrogate you can get on the path to the Nidd gorge, on the river west of Knaresborough, and its lovely along there, to walk into Knaresborough. I only have a landranger map so cannot really give u all the directions, but its do-able. Not sure about the mileage though.
Or if u go from starbeck station to K'boro you might shave a mile off the distance.