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Barle Valley Safaris operate out of Dulverton car park, a town at the south edge of Exmoor. These safaris must be booked and if you are going to go on one I also advise not using a sat-nav. Using a sat-nav forces you to rely on postcodes and the postcode we found on the website took us to the owners house, and half an hour out of our way! Of course that is quite possibly human error and not the fault of the sat-nav, but really, finding Dulverton car park is not that hard.
Anyway. The safari lasts three hours and is well worth the £25 per person cost. Our driver was Duncan, one of the owners, and he was very informative, and very understanding and patient about our being an hour late! He took us up over the open moorland and down into the wooded valleys. We followed many narrow country lanes and went off-road as well. This was quite an experience for all of us, almost as good as a Disney thrill ride. We bumped over rocks, slid over mud and climed up and down some very steep hills on barely discernable tracks. The last part of our journey took us through the ford at Tarr Steps, and then back into Dulverton.
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If you want to see an Exmoor that not many other tourists get to experience then I can 100% recommend this to you. It was fabulous.