The 110 mile (177 km) long route of Cleveland Way starts just north of Filey on the East Yorkshire coastline. The horseshoe shaped route runs along the coast, through Scarborough, Robin Hood's Bay, Whitby and Staithes to Saltburn-by-the-Sea. From here it turns inland across the North York Moors National Park to Helmsley. The coastal section of the route provides magnificent views across the North Sea, as it runs along the cliff-tops. Many prominent stone markers, erected when the path was defined many centuries ago, punctuate the section of the route across the moors. The path is also joined by the 'Yorkshire Wolds Way' at Filey.