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It was narrated that Aishah said:

"The Messenger of Allah performed Tawaf around the Kabah during the farewell pilgrimeage on a camel, touching the Corner with his crooked-ended stick." (Sahih)
Chpater 141. Tawaf For The One Who Is Performing Hajj Al-Ifrad
أَخْبَرَنِي عَمْرُو بْنُ عُثْمَانَ، قَالَ حَدَّثَنَا شُعَيْبٌ، - وَهُوَ ابْنُ إِسْحَاقَ - عَنْ هِشَامِ بْنِ عُرْوَةَ، عَنْ أَبِيهِ، عَنْ عَائِشَةَ، قَالَتْ طَافَ رَسُولُ اللَّهِ صلى الله عليه وسلم فِي حَجَّةِ الْوَدَاعِ حَوْلَ الْكَعْبَةِ عَلَى بَعِيرٍ يَسْتَلِمُ الرُّكْنَ بِمِحْجَنِهِ ‏.‏

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References

• Sunan an-Nasa'i, 2928
• Sunan an-Nasa'i, Vol. 3, Book of Hajj, Hadith 2931
• Sunan an-Nasa'i, Book of Hajj, Hadith 2931