Sunan Ibn Majah Book 25, Hadith 66
“When the Messenger
of
Allah (ﷺ) saw that things had settled down, in the year of the
Conquest (of Makkah), he performed Tawaf on his camel, touching the
corner with a staff in his hand. Then he entered the House and found
a
dove made of aloeswood. He broke it, then he stood at the door of
the
Ka’bah and threw it out, and I was watching him.”
“The Messenger of Allah (ﷺ) did not touch the corners of the Ka’bah apart from the Black Corner (i.e., the corner where the Black Stone is) and the one that is next to it facing the houses of Banu Jumah (i.e., the Yemenite Corner).”
It was narrated from Ibn ‘Abbas that the Prophet (ﷺ) performed Tawaf on a camel during the Farewell Pilgrimage, touching the corner with a staff.