Lumsdale falls is tucked out of the way beauty spot just East of Matlock (https://goo.gl/maps/w1EDuhQDYqS2)
You can drive a car up to a certain point, there’s a very small area for parking up to around 8 cars if people have parked considerately. It’s not usually busy but will have a fair number of people around on a weekend if there is good weather.
The steps are fairly steep in places and can be slippery when wet, so tread carefully!
For those wishing to visit this area, take a look at visitpeakdistrict.com