Pickering is the southern gateway to the North York Moors, a compact market town whose main claim to fame is the southern terminus of the North Yorkshire Moors Railway — one of England's most scenic heritage lines, running 18 miles of steam-hauled track through the heart of the moors to Whitby. The railway was saved from closure in the 1970s by volunteers and now carries over 300,000 passengers a year.
The town itself is worth a morning. Pickering Castle is a well-preserved motte-and-bailey fortress with a shell keep and curtain walls dating from the 12th century, commanding views over the Vale of Pickering. The Church of St Peter and St Paul contains one of the most complete sets of medieval wall paintings in England, rediscovered beneath whitewash in the 19th century — vivid scenes from the lives of saints covering every wall.
Beck Isle Museum, in a former farmhouse by the mill stream, covers rural North Yorkshire life from the 18th century onwards and is one of the better local history museums in the region.
The town market runs on Mondays, as it has since the 13th century. For the moors proper, the road north via Lockton and Levisham takes you onto the heather in 20 minutes.