Gordale Scar along with Janet's Foss make up the 2 Falls around the village of Malham. Whilst there is a walk of approx 600m from the parking area to get to Gordale Falls, The walk is steady along a gravel path.
The difficult bit is climbing up the bottom fall to get to the top one. I bit too much for me but my friends (who are a bit more nimble) managed it. I wouldn't advise coming back down the same way, and would suggest that if you are intent on climbing up, you then continue following the Pennine Way route up toward Malham Tarn.