Taking the 349 bus from Tenby to Haverfordwest alight in Lydstep by the Lydstep Tavern.
In the centre of the village are the remains of Lydstep Palace, a late medieval hall house with a vaulted undercroft. It is now roofless and partially ruinous but has been repaired as far as it’s possible to do so. Lydstep Palace appears to have been used as a court of the Manor of Manorbier and Penally, as well as being a domestic residence.
Make your way down to the coastal path and in the distance you will see Giltar Point. Make Giltar Point your destination to sit and take a break and enjoy the views over to Caldey Island and along South Beach towards Tenby, your final destination.