Mallerstang is a beautiful valley running south from Kirkby Stephen and the area includes the Historic ancient ruins of Pendragon and Lammerside Castles. The following link on the Where 2 Walk website outlines a fantastic route that incorporates a visit to both ruins and spectacular views of the valley.
Ariel view of the Mallerstang Valley (Copyright Simon Leadingham)
For those of you that like high level walking incorporating views down the Mallerstang valley a bracing walk along Wild Boar Fell is detailed on this page on the Where 2 Walk website pages. There is also an website detailing routes in the area called Yorkshire Walks where Frank M Firth has detailed an excellent walk starting from Kirkby Stephen station on the Settle and Carlisle line.
View from Nabs Head approaching Wild Boar Fell (copyright Frank M Firth)
The Yomp- is an annual event held in June which involves three different routes which enables you to experience the majesty of this area and gives great views (weather permitting). It also incorporates a trip to the Nine Standards Rigg. There are three separate yomp courses for all ages and abilities and you can find out more information on how to enter on the yomp pages.