Above the harbour, on the headland, is Scarborough Castle, managed by English Heritage, occupying one of the most dramatic castle sites in the country, and boasting over 2500 years of turbulent history. The climb up to the cliff top is well worth it, when you take in the stunning coastline views and explore the castle. Don't worry, refreshments are available in the tea room or shop!

Back down in the town, take a walk through some of the superb parks and gardens or along South Bay's Victorian esplanade. Peasholm Park is worth a visit, with things to do for all the family; it is a peaceful place to spend a day, surrounded by squirrels, ducks and wild birds, and canoes, swan pedaloes and rowing boats for hire on the lake. Elsewhere in the town there are all the traditional seaside attractions, plus the Sea Life Centre, museums, art galleries and theatres, including the famous Stephen Joseph Theatre.

Travel twenty-one miles up the coast and you reach another popular seaside town – Whitby. The town is dominated by the cliff-top ruins of the thirteenth century Whitby Abbey. For those who are tough enough, take a climb up the 199 steps – known also as the Donkey Steps – to the abbey, which is in a spectacular position overlooking the town and estuary below, and find out about its rich and important history. This atmospheric place is said to be the inspiration for Bram Stoker's "Dracula".

Next to the abbey, the atmospheric St Mary's church, the interior of which resembles a ship, survived the Dissolution of the Monastries when the abbey was attacked in 1539, thus leaving original and unusual features inside. The graveyard is interesting to walk around in itself, as it is home to many weathered headstones of drowned soldiers and lifeboatmen.

Back down in the narrow cobbled streets of the town, visitors will find an array of unique shops displaying local crafts such as Whitby Jet jewellery, maritime memorabillia and antiques. You won't be stuck for places to eat and drink either. Whitby is home to award-winning seafood restaurants, traditional sea-shanty inns, old english tea-rooms and not forgetting good old fish and chip shops.

If you want to get out into the countryside around Whitby, there are good hiking walks both north and south along the coast as well as some great inland walks. Walking five miles south along the coast will take you to the small fishing village of Robin Hood's Bay, a quaint and historic place, originally a smuggler's cove. This 'minature Whitby' has sandy, family friendly beaches, footpaths and cycleways, museums, and great places to eat and drink tucked amongst the cobbled streets. You could easily spend a whole day in this fascinating little village, or stop off and explore it as part of a Yorkshire coastal visit.