Sunan Ibn Majah Book 25, Hadith 68
“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.’”
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.
It was narrated from Nafi’, from Ibn ‘Umar that when the Messenger of Allah (ﷺ) performed Tawaf around the House for the first time, he walked briskly with short steps in the first three circuits, and walked normally in the last four, starting and ending at the Hijr.* And Ibn ‘Umar used to do that.