Did a search on Hyperdia for you:
From Haneda, take the Keikyu Line Exp to SHINAGAWA, switch to JR Yokosuka Line, go to Tokyo. From Tokyo take JR Sobu Line and arrive at TSUDANUMA
You can also do a search yourself for alternate routes (or any routes) here
Hyperdia | 乗り換え案内 路線検索 時刻表 ゴルフ場検索 旅費精算なら