It is narrated from Sayyiduna Ibn Abbas (may Allah be pleased with them both) that the Messenger of Allah (peace and blessings be upon him) performed Tawaf during the Farewell Hajj while riding a camel, and he would touch the Black Stone with his staff.
Hadith Referenceصحيح ابن خزيمه / جماع أبواب ذكر أفعال اختلف الناس فى إباحته للمحرم، نصت سنة النبى صلى الله عليه وسلم أو دلت على إباحتها / 2780