Sayyiduna Abu al-Tufayl (may Allah be pleased with him) says: I saw the Prophet (peace and blessings be upon him) performing the tawaf on his she-camel during the Farewell Hajj; he (peace and blessings be upon him) would touch the corner with his staff.
Imam al-Shafi'i (may Allah have mercy on him) said: As for the seven circuits he performed upon his arrival, they were on foot, because it is reported from Sayyiduna Jabir (may Allah be pleased with him) concerning them that he did raml for three circuits and walked four; so it cannot be that Sayyiduna Jabir (may Allah be pleased with him) reports him performing the tawaf both walking and riding in one and the same set of seven. And it has been preserved that the seven circuits in which he rode were in his tawaf on the Day of Sacrifice (Yawm al-Nahr).
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الحج / 9383