Narrated Anas b. Malik:

The Messenger of Allah ﷺ saw a man that he was supported between his sons. He asked about him, and (the people) said: He has taken a vow to walk (on foot). Thereupon he said: Allah has no need that this man should punish himself, and he ordered him to ride.

Abu Dawud said: 'Amr b. Abi 'Amir has also narrated a similar tradition from al-A'raj on the authority of Abu Hurairah from the Prophet ﷺ.

حَدَّثَنَا مُسَدَّدٌ، حَدَّثَنَا يَحْيَى، عَنْ حُمَيْدٍ الطَّوِيلِ، عَنْ ثَابِتٍ الْبُنَانِيِّ، عَنْ أَنَسِ بْنِ مَالِكٍ، : أَنَّ رَسُولَ اللَّهِ ﷺ رَأَى رَجُلاً يُهَادَى بَيْنَ ابْنَيْهِ فَسَأَلَ عَنْهُ فَقَالُوا : نَذَرَ أَنْ يَمْشِيَ . فَقَالَ :
" إِنَّ اللَّهَ لَغَنِيٌّ عَنْ تَعْذِيبِ هَذَا نَفْسَهُ " . وَأَمَرَهُ أَنْ يَرْكَبَ . قَالَ أَبُو دَاوُدَ : رَوَاهُ عَمْرُو بْنُ أَبِي عَمْرٍو عَنِ الأَعْرَجِ عَنْ أَبِي هُرَيْرَةَ عَنِ النَّبِيِّ ﷺ نَحْوَهُ .