© The Automobile Association 2008. © Crown Copyright Licence number 100021153
1 Walk up the main street of the village, then turn up the road opposite Quaintways tea room. Turn right at a public footpath sign and cross a stile. There are great views of Penshurst Place almost immediately and it's well worth a taking a photo. The house dates back to 1341 and the Great Hall is a fabulous example of medieval architecture. It has a timber roof, a musicians' gallery and an open hearth at its centre. There have been some notable visitors to the house over the years: Elizabeth I danced here with Robert Edward Dudley; the Black Prince ate a Christmas dinner here, and the children of Charles I came here after their father was executed. Now walk to a squeeze gate, cross the road, then go through another squeeze gate. Bear to the right in the direction of the lake. Go through one more squeeze gate and, keeping the lake to your right, walk around it then head towards the trees.
2 The path now veers to the left and goes uphill. Go through two more squeeze gates, then follow the signs for the Eden Valley Walk which leads to the right. This is a 15 mile (24km) linear walk that traces the route of the Eden from Edenbridge to Tonbridge.
3 Cross a stile and keep walking ahead along a wide, grassy track lined with trees. It's so atmospheric that you half expect a Royalist soldier to come cantering past you at any moment. At the end of the track cut down to the right and continue along a busy road to reach a sign for the Eden Valley Walk on the right-hand side, just before a bridge.
4 Go through a squeeze gate and walk through pastureland, along the side of the River Medway which is on your left. Walk by the river for about ¼ mile (400m), then turn right, away from the water, and head across the pasture to a little bridge. Follow the footpath uphill to a stile which takes you on to a concrete track. Turn right and then left at a junction.
5 Continue walking ahead, go through a gate, then down to a stile. Bear left and walk down a track from where there are lovely views of Penshurst Place. Walk under an archway, then turn right and walk back to the village.