Walk from Dalehouse to the Cleveland way, into staithes village then back up onto the second part of the Cleveland way that will take you to port mulgrave . Then on the bend of the road there are two signposts and the one you need is for runswick and then you go along the cliffs to runswick beach. Once you get to the beach this is what awaits you, a stunningly beautiful beach that’s worth the wait. Enjoy. When you return you can go back the way you came or go to staithes via the main road and public footpath. The distance is eight miles long. I’ve only done this bit today as my legs are hurting me at the minute.