A similar hadith is also narrated from Sayyiduna Zayd bin Harithah (may Allah be pleased with him): that the Messenger of Allah (peace and blessings be upon him) set out while he was riding behind him (peace and blessings be upon him); then he narrated the same story that has passed above.
Hadith Referenceالمعجم الكبير للطبراني / باب الزاي / 4648