Hilal bin Yasaf narrates: I went to Raqqah (a city in Syria), and some of my companions said: "Would you like to see one of the Companions of the Prophet (peace and blessings be upon him)?" I said: "That would be a great blessing." We went to Wabisah (may Allah be pleased with him). I said to my companion: "First we will look at his outward appearance and manner." We saw that he was wearing a cap that clung to his head and had two flaps, and he was also wearing a dust-coloured cap made of wool, and during the prayer he was leaning on a staff. After greeting him with salam we asked him about it, and he said: Umm Qays bint Mihsan (may Allah be pleased with her) told me that when the Messenger of Allah (peace and blessings be upon him) had grown old and become heavy in body, he had a pillar set up at his place of prayer, and he (peace and blessings be upon him) would lean on it (during the prayer).
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 3571
Ata (may Allah have mercy on him) narrates that the Companions of the Messenger of Allah (peace and blessings be upon him) (may Allah be pleased with them) used to lean on staffs in prayer.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 3572