Abdullah bin Ja'far (may Allah be pleased with them both) said: When the Messenger of Allah (peace and blessings be upon him) returned from a journey, the children of his (peace and blessings be upon him) household would go out to meet him (peace and blessings be upon him). When he (peace and blessings be upon him) returned from a journey, I was taken to him, and he (peace and blessings be upon him) seated me in front of him; then one of the two sons of Fatimah (may Allah be pleased with her) was brought, and he (peace and blessings be upon him) seated him behind him. Then he said: We entered Madinah, three riders on one animal.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الحج / 10374