Somewhere to sleep in the Peak District?

So I and a friend are going to do the Peak Pilgrimage and want to spend a night in/near Bakewell and the next at Hartington.
We wanted to sleep in hostels but there don't seem to be any on the route. We thought of camping but we are both getting on, I am 74, so don't fancy sleeping on the ground.
So any suggestions?
By the way I have already done the Louth to Lincoln and Epworth to Lincoln recently, great pilgrimages but mostly a bit flat and as we may do the Camino next year wanted some hills.

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