First Timer......When you say a couple of Days do you mean Day walks , or only a part of the Dales way. ?? I think Sherpa have a carpark at Malham, they will then taxi you to wherever you want to be, then pick you up days later, and fetch you back to your car.
The other alternative is when arranging your B&Bs, ask if you can leave it at one of them for a couple of days.