The falls at Aysgarth are split into 3 sections upper, middle and lower, the upper falls are where Kevin Costner had the fight scene in Robin Hood, the middle and lower falls have easy access via the National Parks centre. A nice gentle stroll will get you to all of them without much effort, there are some steep sections but not that difficult they have good steps. Wheelchairs and buggies would be a problem though. Well worth the visit if you are in the Dales, it's on the main Leyburn - Hawes route so easy to get to.
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