Sunan Ibn Majah Book 25, Hadith 135
“I came to the Prophet (ﷺ) and said: ‘O Messenger of
Allah, I
have made my camel lean (because of the long journey) and I
have worn
myself out. By Allah, there is no sand hill on which I did
not stand.
Have I performed Hajj?’ The Prophet (ﷺ) said: ‘Whoever
attended the
prayer (i.e., Fajr at Muzdalifah) with us and departed
from ‘Arafat,
by night or day, may remove the dirt and has
completed his Hajj.’”
“I heard ‘Abdur-Rahman bin Ya’mur Dili say: ‘I saw the Messenger of Allah (ﷺ) when he was standing at ‘Arafat, and some people from Najd came to him and said: “O Messenger of Allah, what is Hajj?” He said: “Hajj is ‘Arafah. Whoever comes before Fajr prayer on the night of Jam’, he has completed his Hajj. The days at Mina are three. ‘But whosoever hastens to leave in two days, there is no sin on him and whosoever stays on, there is no sin on him.’” Then he seated a man behind him on his mount and he started calling out these words.’”
Another chain reports a similar hadith.
“How did the Messenger of Allah (ﷺ) travel when he departed from ‘Arafat?” He said: “He moved at a quick pace, and when he reached an open space he would make his camel run.”