It is narrated from Ibn Abbas (may Allah be pleased with them both) that the Prophet (ﷺ) performed Tawaf of the Ka'bah while riding his camel, and he would touch the Black Stone with his staff.
Hadith Referenceمسند الإمام الشافعي / كتاب الحج / 974
Hadith Takhrijأخرجه البخاري، الحج، باب استلام الركن بالمحجن (1607) ومسلم، الحج، باب جواز الطواف على بعير وغيره... الخ (1272)۔