This walk starts at the amazing Cowdray Farm Shop (pic above), which provides for a slightly different experience than your average Aldi. Last time I visited I followed Mark Owen from Take That around the place whilst he merrily did his weekly shop. A tad annoying to be in the queue behind him, when your only purchase is a tub of olives, but you live and learn.
For the walk, I would recommend you start at the Cowdray Farm Cafe for breakfast, as although it looks pretty much like any other cafe, the produce used to create the menu is pretty special and you can guarantee everything is as fresh as a daisy. There is a car park at the cafe, so a sensible place to leave the car to do this gentle stroll into Midhurst. You can sit outside with the dogs, but please note you cannot take them inside.
As you leave the cafe, you take a right, with the polo fields on your left. Take a gentle 10/15 minute stroll until you reach the castle, which you will see on your left. Follow this road around until you get to a teeny tiny bridge with a little stream. At this point instead of following the foot path straight ahead, turn left on to the field walking diagonally until you get to a little footpath. This little footpath will then lead you up a gentle set of steps to an open field with a little brick wall around it. Walk across this little area and follow the path down towards a little gate which takes you past some little cottages. You will now find yourself in a pretty little square, which has a lovely café. You will see across the way the gorgeous Spread Eagle Hotel which has an amazing spa and who do a lovely afternoon tea. Take a little walk around West Street, visiting the independent shops (The Crafty Pint shop is a great draw for the beer lover among you) and you will end up on the main Midhurst high street. You can now do a little walk back along the high street until you reach the main car park, which has taken you full circle back to the Midhurst Castle. I would say, depending on the number of shops you visit, this is a an easy walk taking no more than an hour (but I could easily stretch it to 3 hours, with the shopping).