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.
Sunan Ibn Majah Book 25, Hadith 67
← Previous Hadith “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.”

Sunan Ibn Majah Book 25, Hadith 66 Next Hadith → “I heard Abu Tufail, ‘Amir bin Wathilah, say: ‘I saw the Prophet (ﷺ) performing Tawaf on his camel, touching the corner with his staff and kissing the staff.’”

Sunan Ibn Majah Book 25, Hadith 68