This walk is about 7.4 miles/3.5 hours walking. Use the map OS Explorer, 156 Chippenham and Bradford-on-Avon, ref: 824 606. Park at Bradford-on-Avon station car park (£1.60 for up to five hours). The station is near the centre of town, accessed from a roundabout to the south of the river.

Sue says: "For this, the first of my 2009 series of walks, I have revisited a popular walking area and woven in a winning combination of attractions.

"The circle, from Bradford-on-Avon, explores the Avon and Frome valleys and offers glorious countryside, two old tithe barns, an aqueduct, two manor houses and a castle.

"There are also three tempting pubs on the way. Walking is on good tracks, including the towpath of the Kennet and Avon Canal and the Monarch's Way.

"There are other refreshment options en route, too – such as tea at Iford Manor – depending on the time of year. The going is virtually flat with only one hill from Farleigh Hungerford. It's definitely ideal for a dog, too."

START

Go to the far end of the car park and follow the Tarmac path under the railway bridge to the tithe barn. This magnificent barn was built in the early 14th century as part of a medieval farmstead owned by Shaftesbury Abbey.

Continue along the Avon through Barton Farm Country Park with the river on your right.

1. CANAL

Soon the path splits. Fork left and join the canal towpath and carry on, enjoying the assorted canal craft that you will see along here.

The Kennet & Avon Canal is England's most southerly cross-country broad-beam canal. Opened in stages between 1723 and 1810, it was navigable only with difficulty during much of the 20th century.

The canal was reopened by the Queen in 1990, and has undergone continuing improvements with the development of canalside resources, including wildlife habitats and moorings.

2. AVONCLIFF

After about a mile, reach Avoncliff and the spectacular aquaduct, taking the canal over the Avon and considered a tour de force of engineer, John Rennie. Here is the popular Cross Guns pub and a cafe. Turn right down to the Cross Guns and then go under the aquaduct. On the left is a tea room. Continue on past a beautiful building, once the old workhouse.

The Bradford Union workhouse dates from the end of the 18th century. At one stage, it accommodated more than 250 inmates and continued until 1917. The building was rented by the Red Cross before being sold in 1923 for use as a hotel called the Old Court. The beautiful old building is now converted into homes.

The track leads through a kissing gate into a field. Continue along the river bank.

3. WOODLAND

Go through another gate and on, this time through the edge of woodland. Come into a field with Freshford ahead on the other side. If you don't want to go to the Freshford Inn, turn immediately left in the field below the wooded hill. Reach a gate on to a lane. Go straight over on to the lane opposite signed to Freshford Mill.

For the inn, continue straight on and bend round left with the field until you reach a lane. The inn is over the bridge. Turn left along the lane, ignoring a footpath, and soon reach a lane on the right signed to Freshford Mill.

4. LANE

Go down to a T-junction and straight over a stile ahead following the footpath across the field. Over on the right is a mill complex by the River Frome, undergoing a major redevelopment to provide residential accommodation. Go on under trees and enter a field. Head straight on with the river on your right. Cross a stile and then shortly begin to bear up left up the bank and on up to a stile which leads on to Iford Lane.

5. IFORD MANOR

Turn right and follow the lane all the way to Iford Manor, famous for its gardens. It was the home of architect and landscape gardener, Harold Peto, from 1899 to 1933, and he created a stunning romantic Italianate garden set in 2.5 acres with steps, terraces, sculpture and rural views.

In high summer it stages musical events in the garden. It is open at certain times (see end) and there is a courtyard cafe, too.

Cross the bridge guarded by a statue of Britannia. Continue up the lane a short distance past the converted mill and reach a crossing footpath.

6. FOOTPATH

Follow this left into a field. Continue straight on through fields with the River Frome on your left. Apparently, it may be possible to see otters along the river here. Soon you will see Farleigh Hungerford ahead topped by the church and also some of the castle ruins.

Don't climb up the field, but stay down and, eventually, come very close to the river, and a path takes you through a wooden kissing gate. Go on and cross left over a footbridge. Follow a Tarmac track and then a grassy track under the impressive castle, which towers above on your right.

7. CASTLE

The castle cared for by English Heritage has many unique features, including the remarkable 14th-century chapel housing the tombs of past generations of the Hungerford family. It is open daily during the summer and well worth a visit.

To visit the castle, go right up the steps. To continue our circle – carry on to the road. Turn left and cross two bridges over the Frome. At the bend, turn left up a steep lane. This is the only hill of our circle and it lasts about five minutes. Continue along the lane on the level.

Just past the second footpath signpost on the left is the site of the medieval village of Rowley in fields on either side of the lane. You may see a few humps and bumps. Carry on and reach two footpaths on the right. Take the second one which continues in the same direction as before above the lane, keeping it on your left. Go past a cottage and straight on towards the church. Leave the field over a stile on to a lane at Upper Westwood.

8. WESTWOOD

Here is yet another beautiful manor – Westwood Manor in the care of the National Trust.

This late 15th-century stone-built manor retains its late Gothic and Jacobean windows, furniture and tapestries. It also has a fine example of a modern topiary garden. There is a beautiful old tithe barn at the side.

Continue along the road and reach a junction with the welcoming New Inn. Go up the left side of the inn and over a stile. Take the path straight on (not right). On the far side of the field, cross a stile and maintain direction through the next field, walking across the high open top. Cross a stile and keep straight on, ignoring a stile left. On the far side of the field, a wooden and then stone stile bring you on to a lane at Lye Green.

9. LYE GREEN

Cross and go through the garden gate of the bungalow (no 102) – there didn't appear to be a footpath marker when I came, but it is a public right of way. Go just to the right of the bungalow and down to the bottom of the garden, through a half barrier, and on down a path. Cross over into the field. Go straight over and across another stile. Ahead is the Avon Valley with Bradford-on-Avon above. Follow the left fence straight on and cross a stile. Continue in the same direction, away from the top fence and along a grassy ledge.

Pass to the left of the wooden power pole and, in the far corner, come down to a stile. Once over, drop straight down the field to a path along the bottom by the canal. Turn right and shortly go through a metal kissing gate. Continue in the next field, climbing slightly and remaining along the left edge. Cross a stile and small footbridge on the left, and a path brings you on to the side of the canal. Carry on to a canal bridge.

10. BRIDGE

Cross the footbridge and then turn right along the canal. When you reach the tithe barn, drop down steps left. Then make your way back under the railway to the station car park.

Iford Manor Gardens, open certain afternoons, 2pm-5pm: over Easter, and in April and October on Sundays. May to September – daily, except for Mondays and Fridays. Home-made cream teas and cakes available at weekends from April to September and bank holidays.

Westwood Manor, open April-end Sept, 2pm-5pm, Tuedays, Wednesdays and Sunday. Cross Guns, Avoncliff, 01225 862335.

The Freshford Inn, Freshford, 01225 722250.

The New Inn at Westwood, 01225 863123 (closed Monday).