“I always preferred to wash the under part of the feet until I saw the Messenger of Allah (ﷺ) wiping the upper part of them.
Sunan Abi Dawud Book 1, Hadith 163
← Previous Hadith If the religion were based on opinion, it would be more important to wipe the under part of the shoe than the upper but I have seen the Messenger of Allah (ﷺ) wiping over the upper part of his shoes.

Sunan Abi Dawud Book 1, Hadith 162 Next Hadith → If religion were based on opinion, it would be more proper to wipe the under part of the feet than the upper. The Prophet (ﷺ) wiped over the upper part of his shoes.

The narrator Waki’ said: I saw ‘ Ali perform ablution and wash the upper part of his feet, and say : Had I not seen the Messenger of Allah(ﷺ) doing like this –and he narrated the tradition in full.

Sunan Abi Dawud Book 1, Hadith 164