Sayyiduna Anas (may Allah be pleased with him) said that when the Prophet (peace and blessings be upon him) came back from a journey and his gaze fell upon the walls of Madinah, he would make his mount go faster, and if he was on another animal, he would urge it on out of love for it.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الحج / 10377