Settle - although I'm biased cos I live there
You have walks right from the door and as gunwharfnan says "in every direction".
Two railway stations - Settle (trains to and from Leeds/Carlisle) and Giggleswick (trains to and from Leeds/Lancaster).
Bus route to and from Skipton/Kirby Lonsdale - hourly service. Look at the dales bus website for more links to buses and trains giving access to Ingleton, Hawes, Sedbergh, Bolton Abbey, Kettlewell, Buckden. Settle to Carlisle line is good for walks from Horton in Ribblesdale, Ribblehead, Dent, Garsdale and Kirkby Stephen.
Supermarkets and shops to replenish supplies. Pubs, cafes and restaurants including fish and chip shops.
If there is a live do on at Victoria Hall, buy a ticket and go.
Loads of walks both low, medium and high level can be found either right from Settle itself or from within 20 to 30 minutes travelling time.
And if you picked a day like today for a walk here - heaven .... blue sky and sunshine
If you want more info, then just post a request. If Peter sees this then I'm sure he will contribute his twopennorth to the walks on offer.