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Hadith 384

اَخْبَرَنَا وَکِیْعٌ، نَا مَعْرُوْفُ الْمَکِّیِّ قَالَ: سَمِعْتُ اَبَا الطُّفَیْلِ یَقُوْلُ: رَأَیْتُ رَسُوْلَ اللّٰهِ صَلَّی اللّٰهُ عَلَیْهِ وَسَلَّمَ وَاَنَا غُـلَامٌ یَطُوْفُ بِالْبَیْتِ عَلٰی بَعِیْرٍ، وَیَسْتَلِمُ الْحَجَرَ بِمِحْجَنِهٖ.
Abu al-Tufail (Amir bin Wathilah bin Amr) (may Allah be pleased with him) narrates: I saw the Messenger of Allah (peace and blessings be upon him) performing Tawaf of the Ka'bah on a camel when I was a boy; he (peace be upon him) was touching the Black Stone with his staff.
Hadith Reference مسند اسحاق بن راهويه / كتاب المناسك / 384
Hadith Takhrij «مسلم ، كتاب الحج ، باب جواز الطواف على بعير وغيره ، رقم : 1272 . سنن ابوداود ، كتاب المناسك ، باب الطواف الواجب ، رقم : 1877 . سنن ابن ماجه ، رقم : 2949 . مسند احمد : 454/5 .»
Explanation & Benefits
Hafiz Abdush Shakoor Tirmidhi
Benefits:
From the aforementioned hadith, it is understood that performing tawaf while mounted on a riding animal is permissible. And if someone, due to an excuse, performs tawaf in a palanquin or similar conveyance, then his tawaf is also valid. There are various ways of touching the Black Stone (Hajar al-Aswad) established from the ahadith:

➊ ... Kissing the Black Stone. As narrated from Sayyiduna Umar radi Allahu anhu, he kissed the Black Stone and said: “I know well that you are a stone and possess no power to benefit or harm. ((وَلَوْلَا اِنِّیْ رَأَیْتُ رَسُوْلَ اللّٰهِ یُقَبِّلُكَ مَا قَبَّلْتُكَ۔)) ‘If I had not seen the Messenger of Allah sallallahu alayhi wa sallam kissing you, I would not have kissed you.’” (Bukhari, no. 1597; Muslim, no. 1270)

➋ ... Touching the Black Stone with one’s hand and then kissing the hand. As related by Sayyiduna Nafi‘ rahimahullah: I saw Sayyiduna Abdullah ibn Umar radi Allahu anhuma touching the stone with his hand, then he kissed his hand and said: I have not abandoned this practice since I saw the Messenger of Allah sallallahu alayhi wa sallam doing it. (Musnad Ahmad: 2/108)

➌ ... Touching the Black Stone with a staff (the end of which is curved). As mentioned in the above hadith, and after that, one should kiss the staff. As in the wording of another hadith: ((وَیُقَبِّلُ الْمِحْجَنَ)) (Muslim, no. 1275; Sunan Ibn Majah, no. 2949) “Then he would kiss the staff.”
Source: Musnad Ishaq bin Rahwayh, Page: 384