In Bingley, on the residential street (Ireland Street) opposite the Brown Cow Inn at Ireland Bridge (bottom of Harden Road), there is a track that runs down the side of the river Aire. A few hundred metres down the track there is an old concrete launch at the side of the river (they used to hire rowing boats out there years ago). You can easily launch from there and go up river for a few miles from there. We used to do this as kids. Down river (under Ireland Bridge) is the weir, so don’t go down there.
I think we used to manage to get beyond Crossflatts before a shallow section, which you could walk the kayak up to continue towards Keighley. We never went beyond the shallow section.