The walkers followed a route along Danby Dale starting from Ralph’s Cross, high up on the moor above the dale.

But to get to their starting point the walkers took advantage of a modern method of crossing the North York Moors by using the Moorsbus.

Trods are historic stone-paved pathways and packhorse routes that are a particular feature of the north-eastern area of the North York Moors National Park.

Some trods were once part of long-distance routes across the moors while others linked farms and villages with focal points such as churches and mills.

The worn surfaces of the trods show they were once well-used, although many are now lost, damaged or forgotten. Some of them are followed by public rights of way and are easily accessible from villages and the Moors National Park Centre in Danby.

The walk celebrated the success of the book, Trods of the North York Moors, which is helping to raise awareness of them and promote their enjoyment by walkers and visitors to the national park.

The book was written by Christopher Evans and published by the Scarborough Archaeologist and Historical Society in collaboration with the national park authority.

Mags Waughman, the national park authority’s archaeological conservation officer, said: “The information in the book, coupled with detailed records and new discoveries made by our archaeology volunteers, has been a great help in our work to conserve and protect surviving examples of trods in the North York Moors.

“It also means we are in a much better position to advise local communities, landowners and organisations such as highways authorities to ensure development and land management activities don’t threaten these ancient routeways.”

Trods of the North York Moors is on sale at local bookshops and at Sutton Bank and Danby moors national park centres priced £10.

Moorsbus, a network of buses offering travel to and around the North York Moors National Park, will be running daily between 27 July and 5 September.

Visit www.moors.uk.net/moorsbus for a timetable.