You can park in Settle for a longer walk but its a steep ascent up to the starting point. 

There are various lay-by along the road but the Sat Nav should take you to the path that leads up towards the rock formations.

From the grass parking verge we followed the grass path upwards which rises gently, you will see a wall in front of you and to the left is a stile in the wall to go through, you are heading to the large hillside on your left.

You will see  jubilee caves first, the path from here leaves from the caves on a stone path which follows the wall on your right. and the hillside on your left

Victoria cave is higher up but you will see a path that rises on your left to the caves, this is a great picnic stopping place.

You can explore as much as you want, Warrendale Knotts is a summit right in front of you it is visible throughout the walk with a trig on the summit, ifs a grass path which you can faintly see.

You can explore many of the paths , and  many routes to explore the area, we have been a few times and always find a new cave to explore, one of my kids favourite walks.

Remember torches, hard hats for protection if you wish for little ones in case of falling rocks.

MORE DETAILS ALL TRAILS

https://www.alltrails.com/trail/england/north-yorkshire/settle-and-victoria-cave