The road continues east for before there is a 90°turn to the north and the B1257 joins from the south. Next is a short run northwards into Helmsley. Here the B1257 starts heading north-west and then north across the western edge of the moors to Stokesley. The A170 continues eastwards, following the corridor of the former railway between Helmsley and Pickering for through Beadlam, Nawton, Kirkbymoorside, Wrelton, Aislaby and Middleton before arriving at Pickering. Just east of Pickering town centre is the junction with the A169 Malton to Whitby road.