Park in the car park and walk up the track, there is a lovely pool just below the waterfall near the start where dogs can swim at the end of the walk to get clean, continue up the valley past a spring, the track then splits to form a loop up to the caves so you can go either way. The caves overlook the valley, and is where prehistoric bones were found. If you have a torch and don't mind a bit of crawling, you can go into some of the inner ones.  The last part of the walk is quite steep so keep dogs on a lead.