"The Messenger of Allah performed Tawaf around the Kabah during the farewell pilgrimeage on a camel, touching the Corner with his crooked-ended stick." (Sahih) Chpater 141. Tawaf For The One Who Is Performing Hajj Al-Ifrad  

طَافَ رَسُولُ اللَّهِ ﷺ فِي حَجَّةِ الْوَدَاعِ حَوْلَ الْكَعْبَةِ عَلَى بَعِيرٍ يَسْتَلِمُ الرُّكْنَ بِمِحْجَنِهِ