More than 30 veterans and volunteers set off from the Cenotaph over the weekend, walking non-stop to reach the finish line the next day in the village of Kirdford.
Walking with the Wounded is known for its daring expeditions to Everest and the North and South Poles – but smaller challenges like this each year have had big results. Ed Parker, of the charity, said:
"It was really hard work. My legs are knackered! But do you know what? It feels so worth it."
"Walking Home for Christmas we do every year. It's aimed to support veterans who don't have a home to go to this Christmas.
"In doing this we can fund the work that we do with them all year round and hopefully this time next year many, many more of them will be with their family at home."
In 2015 the charity teamed up with DIY SOS to create a veterans' village on Canada Street in Manchester, helping those who have struggled to move back into civilian life.
Veteran and GB para-cyclist Jaco Van Gass is among those who has supported the charity since the very beginning. He said:
"Our goal was always to raise money to retrain and re-educate wounded servicemen and women leaving the Armed Forces.
"The charity will always have a special place in my heart and they do a fantastic job."
£25,000 has been raised by this walk so far - and the charity hopes there will be many more supporters keen to walk home this Christmas for the cause.