كتاب الحج
15
The Book of Pilgrimage
(42)
Chapter: It is permissible to circumambulate the Ka'bah on a camel and the like, And for one who is riding to touch the (black) stone with a crooked staff and the like.
(42)
باب جَوَازِ الطَّوَافِ عَلَى بَعِيرٍ وَغَيْرِهِ وَاسْتِلاَمِ الْحَجَرِ بِمِحْجَنٍ وَنَحْوِهِ لِلرَّاكِبِ

Abu Tufail reported:

I saw Allah's Messenger (ﷺ) circumambulating the House. and touching the corner with a stick that he had with him, and then kissing the stick.
وَحَدَّثَنَا مُحَمَّدُ بْنُ الْمُثَنَّى، حَدَّثَنَا سُلَيْمَانُ بْنُ دَاوُدَ، حَدَّثَنَا مَعْرُوفُ بْنُ خَرَّبُوذَ، قَالَ سَمِعْتُ أَبَا الطُّفَيْلِ، يَقُولُ رَأَيْتُ رَسُولَ اللَّهِ صلى الله عليه وسلم يَطُوفُ بِالْبَيْتِ وَيَسْتَلِمُ الرُّكْنَ بِمِحْجَنٍ مَعَهُ وَيُقَبِّلُ الْمِحْجَنَ ‏.‏
Reference : Sahih Muslim 1275
In-book reference : Book 15, Hadith 283
USC-MSA web (English) reference : Book 7, Hadith 2921
  (deprecated numbering scheme)