Note, this is now fully described in the Second Edition of “Hillwalks from the Settle to Carlisle Railway Stations”, 2014, walk 1b.
If the long Langcliffe Scar track does not appeal, but a bit more hillwork does, try this start: as per the book, walk 1, but at the Malham/Settle road turn right (possible visit to Scaleber Force), and continue till a hundred yards after the cattle grid at Ebor Gate, where turn left up a track to the old radio mast. There, follow the wall eastwards along moorland pasture, over one gated stile, and at the stile opposite the cone of Rye Loaf Hill cross it and ascend to the summit, an OS cairn and poor stone shelter. Return to the stile to cross it, turning east to pass through the next wall at a broken gap (this may get mended of course), and head towards the quarry. From here a path heads vaguely for the summit of Kirkby Fell, where a gritstone cairn and three man made holes appear. Head north over rough grass till a gate in line with Nappa Gate is seen, to allow access to the published route.
On the return from The Cove, take the PBW at SD882649 south-west to join the Stockdale path at Nappa Gate, and rather than retracing your route into Settle at the end of Stockdale Lane, you can head towards Attermire on the path atSD847637 and return as for the start of walk 2.