Sayyiduna Jabir bin Abdullah (may Allah be pleased with them both) said that the Messenger of Allah (peace and blessings be upon him) and his Companions made the talbiyah for Hajj, and in those days no one had a sacrificial animal except him (peace and blessings be upon him) and Sayyiduna Talhah (may Allah be pleased with him). Sayyiduna Ali (may Allah be pleased with him) had come from Yemen, and he too had a sacrificial animal, and he said: I make the same talbiyah that the Messenger of Allah (peace and blessings be upon him) made. He (peace and blessings be upon him) ordered his Companions to make it an Umrah: to perform tawaf, shorten their hair and leave ihram, except those who had sacrificial animals. They said: Shall we go to Mina with our private parts dripping? This reached the Prophet (peace and blessings be upon him), and he (peace and blessings be upon him) said: "Had I known beforehand what I have come to know afterwards, I would not have brought the sacrificial animal, and had I not had the sacrificial animal with me, I would have left ihram."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الحج / 8808