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Hadith 4363

عَنْ أَبِي الطُّفَيْلِ عَامِرِ بْنِ وَاثِلَةَ رَضِيَ اللَّهُ عَنْهُ قَالَ: رَأَيْتُ النَّبِيَّ صَلَّى اللَّهُ عَلَيْهِ وَآلِهِ وَسَلَّمَ وَأَنَا غُلَامٌ شَابٌّ يَطُوفُ بِالْبَيْتِ عَلَى رَاحِلَتِهِ يَسْتَلِمُ الْحَجَرَ بِمِحْجَنِهِ
Narrated by Sayyiduna Abu Tufail Amir bin Wathila (may Allah be pleased with him), he says: I saw the Noble Prophet (peace and blessings of Allah be upon him and his family) performing Tawaf of the Ka'bah while riding on his mount, and he was touching the Black Stone with his staff, while I was young at that time.
Hadith Reference الفتح الربانی / كتاب الحج والعمرة / 4363
Hadith Grading محدثین: صحیح
Hadith Takhrij «أخرجه مسلم: 1275 ، (انظر مسند أحمد ترقيم الرسالة: 23798 ترقیم بيت الأفكار الدولية: 24208»
Brief Explanation
Benefits: … In the narration of Sahih Muslim, there is this addition: "wa yuqabbilu al-mihjan" … and he used to kiss the staff.
It is narrated from Sayyiduna Qudamah bin Abdullah radi Allahu anhu, he says: I saw the Messenger of Allah sallallahu alayhi wa sallam riding on a she-camel and performing istilam (touching or gesturing) of the Black Stone (Hajar al-Aswad) with his staff.

Benefits: … Further narrations regarding performing tawaf (circumambulation) and sa’i (ritual walking between Safa and Marwah) while riding, and the reasons for it:
Sayyidah Aisha radi Allahu anha says: "The Prophet sallallahu alayhi wa sallam performed tawaf around the Ka’bah during the Farewell Pilgrimage (Hajjat al-Wada’) on his camel, performing istilam of the corner (Hajar al-Aswad) from there, disliking that people should be struck to make way for him." (Sahih Muslim)

Sayyiduna Jabir radi Allahu anhu says: "The Messenger of Allah sallallahu alayhi wa sallam performed tawaf of the House (Ka’bah) and sa’i between Safa and Marwah during the Farewell Pilgrimage on his mount, so that people could see him, and so that he could look over them, and so that they could ask him questions, for the people had crowded around him." (Abu Dawud, Nasa’i)

From all these ahadith, it is understood that due to an excuse, it is permissible to perform tawaf and sa’i while riding. Also, if an imam is guiding the people, or the people are following him, or there is a danger of people crowding around him, then such an imam may perform tawaf and sa’i while riding.