Ibn ‘Abbas said The Apostle of Allaah ﷺ performed the circumambulation at the Farewell Pilgrimage on a Camel and touched the corner(Black Stone) with a crooked stick. (Using translation from Abū Dāʾūd 1877)
أَنَّ رَسُولَ اللهِ ﷺ «طَافَ فِي حَجَّةِ الْوَدَاعِ عَلَى بَعِيرٍ يَسْتَلِمُ الرُّكْنَ بِمِحْجَنِهِ»