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@mashton
Yep, head down to Trafalgar Square then either take Northumberland Avenue to the Embankment or Whitehall to Parliament Square and onto the Embankment.
Follow the river side road through Chelsea.
Then it gets interesting, you have to break left when you get to the house boats (Lots Rd) and then cut through a private housing estate / industrial park place.
After that, you have to take riverside footpaths which are annoying. You might want to leave the river and head direct to H'smith from Putney Bridge Rd or similar.