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The basic advice for walking in the countryside, or anywhere, is given in the Countryside Code. Based on the criteria Respect - Protect - Enjoy, the main section headings are:
The code can be read in full at the Natural England web site.
For walking in general, there is no better source than the Ramblers Association. The Ramblers was founded in 1935 and, as a charity working to promote walking and to improve conditions for all walkers, is Britain's biggest . It has over 135,000 members in England, Scotland and Wales. On their web site you will find useful information on walking in Britain.
Worcestershire County Council have extensive information on walking in Worcestershire on their Countryside Service pages.