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
Sahih Muslim 1272

Ibn 'Abbas (Allah be pleased with him) reported that Allah's Messenger (ﷺ) circumambulated the House on the occasion of the Farewell Pilgrimage on the back of his camel and touched the Corner (of Black Stone) with a stick.

حَدَّثَنِي أَبُو الطَّاهِرِ، وَحَرْمَلَةُ بْنُ يَحْيَى، قَالاَ أَخْبَرَنَا ابْنُ وَهْبٍ، أَخْبَرَنِي يُونُسُ، عَنِ ابْنِ شِهَابٍ، عَنْ عُبَيْدِ اللَّهِ بْنِ عَبْدِ اللَّهِ بْنِ عُتْبَةَ، عَنِ ابْنِ عَبَّاسٍ، أَنَّ رَسُولَ اللَّهِ صلى الله عليه وسلم طَافَ فِي حَجَّةِ الْوَدَاعِ عَلَى بَعِيرٍ يَسْتَلِمُ الرُّكْنَ بِمِحْجَنٍ ‏.‏
Reference : Sahih Muslim 1272
In-book reference : Book 15, Hadith 279
USC-MSA web (English) reference : Book 7, Hadith 2917
  (deprecated numbering scheme)