Getting to Denmark is relatively easy and trouble free.

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The Harwich - Esbjerg ferry was stopped in 2014.

The route to Silkeborg now is via a overnight ferry from Hull to Rotterdam and a 8 hour drive upto Silkeborg.

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See the below link for the 'Pride of Rotterdam' P&O overnight ferry.

http://www.poferries.com/en/hull-rotterdam/onboard/ships/pride-of-rotterdam 

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See the map below for driving instructions from Rotterdam to Silkeborg