Time-honoured Lancaster

1 Exit from the car park to a cobbled haven alongside a busy road. In front is Covell Cross and above it the Judge's Lodgings. This lovely 17th-century house now houses a furniture museum and a museum of childhood. Go up, with the Judge's Lodgings on your right, on to Castle Hill.

2 Go through the gateway into the Priory churchyard. (A short detour rightwards gives a fine view over the city.) The church is among the finest in Lancashire, one of its most notable features being the superb 14th-century choir stalls. From the west front of the church, walk down a narrow path (known as Vicarage Lane). Half-way down a sign points right to the slightly disappointing Roman bathhouse remains. Return to Vicarage Lane, descend steps, cross a cycleway/footpath and continue down the last bit of Vicarage Lane to Saint George's Quay. Turn left and walk about 300yds (274m) to the Maritime Museum.

3 Return along the riverside towards the prominent Millennium Bridge (no prizes for guessing when it was constructed). Walk up the ramp on to the bridge, go right, then bear left along the old railway line. Reaching the main road, slope off right and through the underpass. Emerging on to the open grassy Green Ayre, bear left and walk up beside the river to admire Skerton Bridge. Completed in 1788, the bridge is notable as the first bridge in England with a level roadway.

4 Turn around then bear left towards the traffic-light. Cross the street on your left, turn right and cross again when lights permit. Go up steps into a car park. Leave by the vehicle exit then cross the road above and go up the street almost opposite. Turn left into De Vitre Street, second right into Shaw Street and through a gap at its end. Turn right along the canal tow path. Several cotton mills still stand, though they now serve other functions. Go under two bridges and below the grand Roman Catholic Cathedral, designed by the Lancaster firm of Paley and Austin.

5 At the third bridge the tow path changes sides, by a spiral ramp that allowed horses to cross without being unhitched. Continue past the White Cross pub. The White Cross complex originally produced oilcloth but now houses a wide variety of educational, office and light industrial activities. Continue under another bridge then cross by the new footbridge just before the Water Witch.

6 Cross the road into Queen Street - another collection of good Georgian houses - and down to Queen Square. Bear left along the main road for 100yds (91m) to a pedestrian crossing, then turn right down Common Garden Street. At Marks and Spencer turn left into pedestrianised Penny Street. At Horseshoe Corner, turn left up Market Street to Market Square, where the City Museum can be found. Continue past the entrance to New Street then look for a narrow entry (Music Room Passage) on the right, which leads into Music Room Square, named for the enigmatic building at the back. Follow Sun Street to its end and turn left up Church Street. The pedestrian crossing at the top returns you to Covell Cross.