It was narrated from 'Abdullah bin 'Abbas that the Messenger of Allah (ﷺ) performed Tawaf during the Farewell Pilgrimage atop a camel, touching the Rukn [1] with a stick that was bent at the top. [1] The corner of the Ka'bah in which the Black Stone is situated.
أَخْبَرَنَا سُلَيْمَانُ بْنُ دَاوُدَ، عَنِ ابْنِ وَهْبٍ، قَالَ أَخْبَرَنِي يُونُسُ، عَنِ ابْنِ شِهَابٍ، عَنْ عُبَيْدِ اللَّهِ بْنِ عَبْدِ اللَّهِ، عَنْ عَبْدِ اللَّهِ بْنِ عَبَّاسٍ، أَنَّ رَسُولَ اللَّهِ صلى الله عليه وسلم طَافَ فِي حَجَّةِ الْوَدَاعِ عَلَى بَعِيرٍ يَسْتَلِمُ الرُّكْنَ بِمِحْجَنٍ .
Nesai
The Book of the Masjids • Hadith 713