Sayyidah Aishah (may Allah be pleased with her) says that the Prophet (peace and blessings be upon him) performed the tawaf of the Ka'bah riding on a camel during the Farewell Hajj. He (peace and blessings be upon him) would touch the corner, disliking that the people be driven away from him (peace and blessings be upon him).
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الحج / 9380