A previous enquiry shows:-
"Robin Hoods Bay is best exited by a bus to Scarborough,then Trans-Pennine trains back to Manchester.
If you have to abort somewhere after half way across,then bus it to Northallerton,get singles to York,then pick up your Trans-Pennine booking."
There are probably other ways, try using the search box near the top left-hand side of the page to find other responses to previous enquiries. Good luck, I hope that you enjoy it.
Live each day like it's your last. One day, you'll get it right!