Pickering is a market town and civil parish in North Yorkshire, England, on the border of the North York Moors National Park. Historically part of the North Riding of Yorkshire, it is at the foot of the moors, overlooking the Vale of Pickering to the south. Pickering Parish Church, with its medieval wall paintings, Pickering Castle, the North Yorkshire Moors Railway and Beck Isle Museum have made Pickering popular with visitors. Nearby places include Malton, Norton-on-Derwent and Scarborough.