Sayyiduna Qudamah bin Abdullah bin Amir al-Amiri (may Allah be pleased with him) said: I saw the Messenger of Allah (peace and blessings be upon him) performing tawaf of the House (the Ka'bah) while riding a she-camel, touching the Black Stone with his staff.
These are the words of the narration of Abbad bin Musa.
Hadith Referenceالمعجم الكبير للطبراني / باب القاف / 16130