The Messenger of Allah (ﷺ) had himself cupped on the surface of his foot because of a pain in it while he was in the sacred state (wearing ihram).

Abu Dawud said: I heard Ahmad say: "Ibn Abi 'Arubah narrated it in Mursal form". Meaning from Qatadah.
Sunan Abi Dawud Book 11, Hadith 117