From Scarborough the A170 turns inland to the Vale of Pickering. The town of Pickering (17mi/27.2km west, population 5,000) has a ruined Norman castle as well as the parish church of St Peter and St Paul, founded during the Norman period. Medieval wall-paintings depicting biblical scenes (mid-15th century) were found above the arcades of the
nave in 1852. They were subsequently painted over but uncovered again after 1880.
Pickering Castle, completed in the 12th century, once served as a royal hunting lodge.