´Abu Az-Zubair narrated that he heard Jabir bin Abdullah say:` During the Farewell Pilgrimage the Prophet circumambulated the House and went between As-Safa and Al-Marwah on his mount so that the people could see him and he could see them, and they could ask him questions, and the people crowded around him.
Related hadith on this topic
Explanation & Benefits
Hafiz Muhammad Ameen
From this it is understood that, in case of necessity, circumambulation (tawaf) may be performed on a mount instead of on foot. For example, elderly and sick individuals. Similarly, a mount may be used for educational purposes and the like.
Source: Sunan Nasa'i: Translation and Benefits by Shaykh Hafiz Muhammad Amin Hafizullah, Page: 2978
Hafiz Muhammad Ameen
For benefits, see Hadith: 2984.
Source: Sunan Nasa'i: Translation and Benefits by Shaykh Hafiz Muhammad Amin Hafizullah, Page: 2986