The Prophet (ﷺ) offered funeral prayer over Ibn al-Dahdah while we were present. He was then brought a horse, and it was tied until he rode it. It then began to gallop and we were running around it.
Sunan Abi Dawud Book 21, Hadith 90
← Previous Hadith An animal was brought to the Messenger of Allah (ﷺ) while he was going with a funeral. He refused to ride on it. When the funeral was away, the animal was brought to him and he rode on it. He was asked about it. He said: The angels were on their feet. I was not to ride while they were walking. When they went away, I rode.

Sunan Abi Dawud Book 21, Hadith 89 Next Hadith → I saw the Prophet (ﷺ) and Abu Bakr and Umar walking before the funeral.

Sunan Abi Dawud Book 21, Hadith 91