عَنْ قُدَامَةَ بْنِ عَبْدِ اللَّهِ رَضِيَ اللَّهُ عَنْهُ قَالَ: رَأَيْتُ رَسُولَ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَآلِهِ وَسَلَّمَ عَلَى نَاقَةٍ يَسْتَلِمُ الْحَجَرَ بِمِحْجَنِهِ
It is narrated from Sayyiduna Qudamah bin Abdullah (may Allah be pleased with him), he says: I saw the Messenger of Allah (peace and blessings be upon him) riding a camel and performing Istilam (touching) of the Black Stone with his staff.