Boscastle is a great place to begin a walk and you can stock up with supplies from local shops before you set off. Park your car at the Heritage Centre in the centree and start the walk from the west side of the river. Climb up above the harbour and from this point follow the undulating coastal path. It is steep in places (muddy in winter months) and not suitable for wheelchairs or buggies. The views are spectacular, tall cliffs and rocky valleys. See the watch tower on the headland and pop down to the beach at Bosinney Haven (only visible at low tide). The walk is about 5 miles and the Castle is well worth a visit when you reach Tintagel. You can catch a local bus back if tired but why not re-fuel with a cream tea before returning? Dog friendly beaches at Tintagel Haven and Bossiney Haven.