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As well as being a great Heritage Trail in it's own right, the Pilgrimage of Grace route is a great way of linking in to the Yorkshire Wolds Way on foot from either Pocklington or Warter.  The trail is an 8 1/2 mile linear route following part of the National Trail.  It is associated with the historic Pilgrimage of Grace, which was East Yorkshire's great rebellion of 1536 against the hardships brought against them by Henry VIII. 

The route is fully described, with a downladable map on the Top Ten Trails Website