Ibn Abbas (Allah be pleased with them) reported that Allah's Apostle (ﷺ) entered the Ka'ba, and in it there were six pillars, and he stood near a pillar and made supplication, but did not observe the prayer.
Sahih Muslim Book 15, Hadith 442
← Previous Hadith I said to 'Ata': Have you heard Ibn 'Abbas saying: You have been commanded to observe circumambulation, and not commanded to enter it (the Ka'ba)? He ('Ata') said: He (Ibn Abbas) (at the same time) did not forbid entrance into it. I, however, heard him saying: Usama b. Zaid informed me that when Allah's Apostle (ﷺ) entered the House, he supplicated in all sides of it; and he did not observe prayer therein till he came out, and as he came out he observed two rak'ahs in front of the House, and said: This is your Qibla. I said to him: What is meant by its sides? Does that mean its corners? He said: (In all sides and nooks of the House) there is Qibla.

Sahih Muslim Book 15, Hadith 441 Next Hadith → I asked Abdullah b. Abu Aufa (Allah be pleased with him), a Companion of Allah's Messenger (ﷺ), whether Allah's Apostle (ﷺ) had entered the House, while performing 'Umra, He said: NO.

Sahih Muslim Book 15, Hadith 443