A lovely 10 mile circular walk from Welbeck Estate to Cresswell Crags (a limestone gorge on the border between Nottinghamshire and Derbyshire - home to number of fascinating cave dwellings once occupied by nomadic peoples during the Ice-age). Easy walking with a variety of scenery on mostly public footpaths, but some (allowed) estate paths.
Facilities such as toilets and a cafe will be available at the start and end of the walk, if required. Lunch will be at Cresswell Crags and there are facilities at the visitor centre. From there it's a relatively short walk back to Welbeck, so there should be time to have a look at the caves if people wish.