It is narrated from Tawus that the Messenger of Allah ﷺ instructed his companions to hasten the Tawaf al-Ifadah, and he himself performed the Tawaf al-Ifadah at night among his wives on his mount. He ﷺ would touch the Black Stone with his staff. The narrator says: "I think he also said that then he would kiss the end of the staff."
Hadith Referenceمسند الإمام الشافعي / كتاب الحج / 1006