RedBike said:
I was thinking first stop somewhere in the North Peak district, 'Crowden' Second stop in the South Yorkshire Dales 'Hetton' . ( I don't know if there is a campsite close to these towns).
RedBike, if you mean Hetton just north of Skipton, there is no campsite and there is only one famously good (and expensive) bistro-pub to eat, the Angel.
I would camp at Gargrave to the SW, or further up valley at Cracoe, Skirethorns or one of the several sites in Wharfedale e.g. the nice one by the river in Appletreewick ("Aptrick"). If you are not self catering I would go for Gargrave or Kettlewell (at the foot of Caseker Gill, limited level ground).
As to the route from Crowden, you either have to do busy-ish roads in the valley bottoms, or go a long way east, or haul yourself across a series of deep east-west valleys. Personally I would be a bit further west at that point and go Littleborough, Todmorden, Hebden Bridge, Oxenhope - a cracking moorland crossing - Keighley, Skipton. The last part has quieter parallel roads on the valley sides, if you want.
From Hetton if you have time it's up Wharfedale, over Fleet Moss to Hawes, back up Widdale to Newby Head, down W to Dent, nearly into Sedurgh then jiggle across SW via Killington to 3 Mile House and Old Hutton, then drop into Kendal via the B6254. Classic scenery and some classic hills. There are lots of variations on that, all of them good.
That's a big loop, of course. If you need something more direct you pretty much have to track the A65 (but not ride it - it's narrow, fast and usually unpleasantly busy). From Hetton go Winterburn, Airton, Settle, Giggleswick, Eldroth, Clapham Station (nice campsite by the Flying Horseshoe), High Bentham, Burton in Lonsdale, Tunstall, Kirby Lonsdale, B6254 to Old Hutton, Kendal. About half the distance and a third of the climbing.
I can't lay my hands on mine at the moment, but I think the OS Northern England covers both these days on one standard size map at just the right scale. It's what I always use. [If you have access to Tracklogs I can email you my suggested route if you want.]