Sahih Muslim 1275
Sahih Muslim · Book 15: The Book of Pilgrimage · 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.
Abu Tufail reported:
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 .
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.