Nice views over the Hope Valley from the tops of the hills, but theres no real easy route apart from using those legs, and it is a pretty strenuous climb. It can also get very wet and boggy, especially if you walk up the path through Cave Dale below the castle. If you dont fancy the uphill walk, then you could park on the roads near Mam Tor, then follow the public footpaths round to Peveril Castle. Not as strenuous, but it is still a fair walk.
(Written by: KingKobra74)