Abdullah b. Ja'far reported that when Messenger of Allah (may peace be, upon him) came back from a journey, the children of his family used to accord him welcome. It was in this way that once he came back from a journey and I went to him first of all. He mounted me before him. Then there came one of the two sons of Fatima and he mounted him behind him and this is how we three entered Medina riding on a beast. (Using translation from Muslim 2428a)
كَانَ رَسُولُ اللهِ ﷺ إِذَا قَدِمَ مِنْ سَفَرٍ تُلُقِّيَ بِالصِّبْيَانِ مِنْ أَهْلِ بَيْتِهِ قَالَ وَإِنَّهُ قَدِمَ مَرَّةً مِنْ سَفَرٍ قَالَ فَسُبِقَ بِي إِلَيْهِ قَالَ فَحَمَلَنِي بَيْنَ يَدَيْهِ قَالَ ثُمَّ جِيءَ بِأَحَدِ ابْنَيْ فَاطِمَةَ إِمَّا حَسَنٌ وَإِمَّا حُسَيْنٌ فَأَرْدَفَهُ خَلْفَهُ قَالَ فَدَخَلْنَا الْمَدِينَةَ ثَلاثَةً عَلَى دَابَّةٍ