It was narrated from Jabir bin ‘Abdullah, Ibn ‘Umar and Ibn ‘Abbas that when the Messenger of Allah ﷺ and his Companions came (to Makkah) to perform their Hajj and ‘Umrah, they only performed Tawaf once.
أَنَّ رَسُولَ اللَّهِ ﷺ لَمْ يَطُفْ هُوَ وَأَصْحَابُهُ لِعُمْرَتِهِمْ وَحَجَّتِهِمْ حِينَ قَدِمُوا إِلاَّ طَوَافًا وَاحِدًا