A walk into Lancaster from the Park and Ride next to the M6. A couple of miles you can walk all the way along the former railway line behind the Holiday Inn or turn off at the canal aqueduct and walk via the Lancaster Canal.
Once in Lancaster the museum is a good call. It has plenty of information and changing exhibitions.
Overlooking Lancaster from the east is the Ashton Memorial. From the centre of Lancaster a good walk uphill to Williamson Park and on to the memorial to Lord Ashton’s wife: