I tried it once, it sucked ended up being an hour late for work so never tried it again.
But if you are serious here is a route planner
http://www.yorkshiretravel.net/journeyplanner/start.do
but i dont think its practical due to to the time and amount of changes, try an get a lift from someone and share petrol, unfortunatly I'm coming from the opposite direction ie Knaresborough