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 1274

'A'isha (Allah be pleased with her) reported that Allah's Apostle (ﷺ) circumambulated the Ka'ba on the back of his camel on the occasion of the Farewell Pilgrimage and touched the corner and he did not like that the people should be pushed away from him.

حَدَّثَنِي الْحَكَمُ بْنُ مُوسَى الْقَنْطَرِيُّ، حَدَّثَنَا شُعَيْبُ بْنُ إِسْحَاقَ، عَنْ هِشَامِ بْنِ عُرْوَةَ، عَنْ عُرْوَةَ، عَنْ عَائِشَةَ، قَالَتْ طَافَ النَّبِيُّ صلى الله عليه وسلم فِي حَجَّةِ الْوَدَاعِ حَوْلَ الْكَعْبَةِ عَلَى بَعِيرِهِ يَسْتَلِمُ الرُّكْنَ كَرَاهِيَةَ أَنْ يُضْرَبَ عَنْهُ النَّاسُ ‏.‏
Reference : Sahih Muslim 1274
In-book reference : Book 15, Hadith 282
USC-MSA web (English) reference : Book 7, Hadith 2920
  (deprecated numbering scheme)