the narrow valley between muker and keld is nice, so something along the lines of what MartinHutch is suggesting. A clockwise or anticlockwise circuit of Gunnerside-Muker-Swinner Gill-Gunnerside Gill. The problem with stopping at pubs is you quite quickly can’t be arsed with the walking. Altho if you stop at Keld, then you’ve no choice as it’s the furthest point. tho I seem to recall the only bar at keld is the YHA, but I might be wrong.
walk along the river bank towards Muker village,
dont cross river to Muker but continue to bottom of Ivelet Woods,
(if you want to go into Muker then you can cross the river)
at bottom of ivelet woods you turn back right for a short distance then,
up the hillside on a tree lined ramp thru Ivelet Woods (not marked as a FP on map),
then get up onto the high footpath to Swinner Gill,
over top to Gunnerside gill,
you can traverse upto the waterfall,
back to Gunnerside (a path on winterings Edge will be more interesting than the main 4×4 farmers road).
EDIT, just realised you’re starting in Muker, so you’d cross the bridge at the bottom of Ivelet woods, turn right (south east) for a short distance, then up the Ivelet woods ramp