There's also a very mooch-aroundable market on Fridays and Saturdays, with plenty of artisan bread and baked goods, organic vegetables, vintage clothing and old tools stalls.
You can park for up to 2 hours in the Morrison's carpark – free if you buy at least £5 worth of stuff from them and, also, free on Bank Holidays, of which Good Friday is one. That's plenty of time to wander up Fore Street, check out the charity-shop rails, buy clasps in the bead shop, postcards in the newsagents, hum and haw over the West Country sheepskin rugs in the market, buy a date slice and wander back again. It's also almost next door to the tourist information office, where you can pick up local walking maps, find out where the Dartmouth ferry leaves from (and when) and plan your stay.
Especially nice are the various narrow alleyways leading off Fore Street, giving glimpses back to a time before cars and the droopy-faced dog helping to hold up a half-timbered house.