It is narrated from Ibn Abbas (may Allah be pleased with them both) that the Messenger of Allah (peace and blessings be upon him) performed the circumambulation of the Ka'bah on his camel, and touched the Black Stone with his staff.
Hadith Referenceمسند الإمام الشافعي / كتاب الحج / 970
Hadith Takhrijأخرجه البخاري، الحج، باب استلام الركن بالمحجن (1607) ومسلم، الحج، باب جواز الطواف على بعير وغيره... الخ (1272)۔