Sayyiduna Abu Hurayrah (may Allah be pleased with him) said that in the Hajj before the Farewell Hajj, in which the Messenger of Allah (peace and blessings be upon him) had appointed Abu Bakr (may Allah be pleased with him) as leader, he sent me on the Day of Sacrifice with a group to announce among the people: "After this year no polytheist shall perform Hajj, and no one shall perform tawaf of the House naked."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الحج / 9308