For those of us who don't like the sound of the "18 miles" in the "Walks Around Bentham" book this is the answer. This 62 page guide describes in detail 10 walks in the Bentham area where the duration is between 3 and 5 miles. There are detailed sketch maps for every walk. 
This popular book was written by the Bentham Footpath Group in 1992, and has since been reprinted twice. 
 

Shaky Bridge to Low Bentham Punch Bowl Greystonegill Bridge Boiling Well and Clifford Hall Oakhead and Kirkbeck The Ingleton Footpath and Tatterthorn Lane

The Great Stone of Fourstones Goodenbergh to Low and High Bentham Goodenbergh to Burton-in-Lonsdale Parkfoot to Ingleton Parkfoot to High and Low Benthsam