From the step of your caravan there are plenty of picturesque walks in the local area. Route maps can be found here. For those of you who would like to venture further afield the stunning scenery of the Yorkshire Wolds makes for an idyllic day out. The Yorkshire Wolds way runs through the scenic villages of Millington, Huggate and Thixendale and their of plenty of good quality local pubs to stop at for a bite to eat.
With the Tour de France being hosted in Yorkshire in 2014 and now the Tour de Yorkshire running in 2015 there is no better way to explore the East Yorkshire Countryside. A map of local cycle routes is available here.