Storm's link didn't work for me, but that may be my browser. Here's a link to the same page just in case:
http://gw.gamewikis.org/images/b/ba/...timized%29.jpg
It doesn't have the explorable area names though.
I usually use this map, but it can take a couple minutes to d/l depending on your connection:
http://tcfish.teutonictemplar.com/map/tyria_map.jpg
If you go to Drok's or Iron Mines or Camp Rankor you will see people offering to run there for a fee. If they offer a full shiverpeaks tour, then that should be included in it. Beacon's Perch and Copperhammer Mines would be other places you could get a run from.
If you want to fight your way there, it depends on what towns you have.
If you have the Deldrimor War Camp, just go East from there into Grenth's Footprint and fight your way to Spearhead Peak and then fight up to Granite Citadel.
If you have Drok's then you can fight north through Talus Chute into Ice Dome (North and a bit East), then east to the Frozen Forest, then North to Copperhammer Mines and then North through Spearhead Peak to Granite Citadel.
If you have Iron Mines, you can fight West through the Frozen Forest to Copperhammer Mines, and then up to Granite.
If you have Camp Rankor, it might be faster to fight your way to the War Camp. If you don't mind dying here's a tip. As soon as you enter Spearhead Peak from the War Camp side, just party wipe. The nearest rez shrine is right outside Granite Citadel. Pretty quick way to get there, though fighting or running doesn't take that long (as long as you don't make a wrong turn).
All of these are fairly tough areas, but if you watch your aggro, you should be fine.
Check the wiki for more Elite skills on the way there. Quite a few bosses in the area.
Have fun exploring, and if you aren't in a hurry, not a bad time to work on the Cartographer Title.