Sayyiduna Abdullah bin Abbas (may Allah be pleased with them both) says: Of the things I missed in my youth, I do not regret anything except that I could not perform Hajj on foot. Hasan bin Ali (may Allah be pleased with them both) performed twenty-five Hajj pilgrimages on foot, while the finest mounts were led along with him. He shared his wealth with Allah three times (giving half of it away), to the extent that he would give away a leather sock (khuff) and keep a sandal.
A marfu' hadith has been narrated from Ibn Abbas on this, and there is weakness in it.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الحج / 8645