Walk up the lane from the suggested parking and bear right when you spot the bridleway, which should take you up a grassy path, through a gate and onto the moors.
Once you reach the signpost, bear right over hte little bridge and follow the bridleway underneath the Sharp Haw summit until you reach the first gate. Continue along the bridleway down to gate 2 at which point you should be at the bottom of Rough Haw.
There should be an obvious track up to the top, where there are some nice spots for a picnic. My suggestion would be across to where the cache is as there is a large flat rock with some great views both up and down the Dale - from Rylstone Cross, along Crookrise Crag (my favourite spot found through caching!) to Embsay Crag and down to Skipton.
The cache is hidden just underneath the flat rock, on the right hand side as you look out, but please ensure it's placed well back into it's hiding hole and covered with a few stones as I think the sheep may shelter here a bit!