Jabir bin Abdullah said The Prophet ﷺ performed the circumambulation of the House (the Kaabah) on his Camel at the Farewell Pilgrimage and ran between Al Safa’ and Al Marwah, so that the people could see him, remain well informed about him and ask him questions (about Hajj) for the people surrounded him.
Related hadith on this topic
Explanation & Benefits
Hafiz Muhammad Ameen
From this it is understood that, in case of necessity, circumambulation (tawaf) may be performed on a mount instead of on foot. For example, elderly and sick individuals. Similarly, a mount may be used for educational purposes and the like.
Source: Sunan Nasa'i: Translation and Benefits by Shaykh Hafiz Muhammad Amin Hafizullah, Page: 2978
Hafiz Muhammad Ameen
For benefits, see Hadith: 2984.
Source: Sunan Nasa'i: Translation and Benefits by Shaykh Hafiz Muhammad Amin Hafizullah, Page: 2986