Start from the Esplanade on top of the cliffs above the pier in Saltburn (NZ66517 21658). Plenty of parking available.
Take the steps down to the pier and promenade and head Westwards.
Where the promenade ends there is a road that heads up the valley.
A short distance up this road, on your right, is the signposted footpath.
Follow the footpath signs up some steps (quite steep) to reach the England Coast Path that follows to top of the cliffs all the way to Marske.
In Marske head for St. Germain's churchyard, then continue to the path that leads to the beach.
From here, return along the beach to saltburn.