Yorkshire Dales Touring

We are interested in joining a group of friends who plan to walk the Inn Way in the Yorkshire Dales, Grassington to Buckden, Askrigg, Reeth, West Burton, Kettlewell, Grassington. We would like to do this using our caravan as accomodation. It would seem that we can use sites in the south of the area near Grassington and in Kettlewell and towards the north in Hawes but would be interested to hear if anyone knows of suitable sites in the places named above so that we can spend our evenings together and most importantly can we tow from the southern area to the northern one directly or do we have to travel what would seem rather a long way round to access these two areas? Advice from members familiar with the area would be much appreciated.