I visited this area in 2006. I started my walk at the foot of the Cove (a semicircular cliff formation) and climbed up a track to the top of the Cove, then explored the terrain above, including the Limestone Pavements (flat-topped areas of exposed limestone). I can’t remember now if I explored the Tarn, which is accessible to the north, but I made my way over to the Gordale Scar (a ravine with a river at the bottom) and made my way down a steep track to the river level. I continued downstream to the waterfall, where I was able (with a bit of assistance from other walkers) to climb down to the lower path. I then walked towards the village via Janet’s Foss (a pleasant area of woodland with a stream and the Janet’s Foss waterfall) finally returning to my starting point.
Please note that while I had a map of suggested walks and was trying to follow one of them, I would caution that I found descending into the upper Scar quite challenging. The recommended track descends close to the waterfall. Climbing down the mostly dry waterfall was even more of a challenge and I only persisted because the alternative of spending some time retracing my steps was even less appealing.
The various walks usually route up the waterfall (which is probably easier than scrambling down it), but lone walkers or those not used to scrambling up rocks should exercise due caution. Walking boots must be worn. The whole walk took me most of the day.