Might I recommend the above walk, although, as far as i am aware, there is no definitive guide.
The route can be found on a map in the bar of 'The White Horse' in Rosedale Abbey and it's a case of identifying the route and good map-reading to complete the circuit.
It starts in Rosedale Abbey and the first day (approx 20 miles)takes in Farndale/Bransdale/Baysdale/Westerdale and then overnight at The Lion Inn/Blakey (well known to all c2cers). The second day (approx 17 miles)comprises Danbydale/Fryupdale/Glaisdale/Hartoftdale back to Rosedale.
Parts of the route touch the c2c and as you can determine is quite strenuos due to the constant updale/downdale. The walk is a wonderful introduction to see the NYM at their best.
'The Lads' have completed the walk 3 times over the years at various times of the year - fave been august when the purple heather is in full flow.
There are 3 pubs in Rosedale Abbey offering accomodation and the route is fairly well served by pubs/cafes although there are many many great picnic spots overlooking the various dales so a pack-up would not go amiss.
If anyone knows of a definitive guide, please let me know. Happy Walking.