In reply to TheDrunkenBakers:
You may consider staying Burnsall/Appletreewick/Grassington. Very easy to catch a bus and do a linear walk along a section of the Dales way. Hotels and B&Bs to suit all pockets. Burnsall small village couple of pubs
Appletreewick Small hamlet with a couple of pubs
Grassington. Small town loads of pubs.
It is a great walking area