It is narrated from Sayyiduna Abdullah bin Abbas (may Allah be pleased with them both) that I came riding on a donkey while I was close to puberty. The Messenger of Allah (ﷺ) was leading the people in prayer at Mina. I passed in front of some of the rows, dismounted from the donkey, let it graze, and joined the prayer with the Prophet (ﷺ). Not a single person from the entire congregation objected to me.
Hadith Referenceالسنن المأثورة / باب ما جاء في الصلاة على الراحلة / 126
Hadith Takhrijصحیح بخاری، العلم، باب متی یصح سماع الصبی، رقم: 76، صحیح مسلم، الصلاة، باب سترة المصلی، رقم: 504