As a Harry Potter fan, this was a must do for us in the UK, but even if thats not your rationale, this is an amazingly beautiful,place to visit. We took the path just to Malham Cove, from the visitor centre car park. This gets you to the bottom of the cove in about 30 comfortable minutes of (pretty accessible) pathway through beautiful English countryside. If you want to get up to the top, there are rock stairs ( Didn’t count, but I’d guess around 300 steps). There were plenty of opportunities to rest along the way and admire the scenery. Because of this, even moderate fitness levels could achieve this. The views and rock formations at the top were spectacular. This is well worth it. People were coming from the other direction and it seemed you may be able to do a longer loop from town starting in the opposite direction that didnt involve stairs, but we didnt have time for this longer loop so can’t confirm this.

Beautiful part of the county, we visited with our daughter and her boyfriend, he was blown away by the entire area, Gordale Scar, Janet’s Foss and the Cove were pretty quiet when we visited around 9am but began getting very busy