the Messenger of Allah circumambulated (the Kabah) during the Farewell Pilgrimage on a camel, touching the Corner with a crook-ended stick.  

أَنَّ رَسُولَ اللَّهِ ﷺ طَافَ فِي حَجَّةِ الْوَدَاعِ عَلَى بَعِيرٍ يَسْتَلِمُ الرُّكْنَ بِمِحْجَنٍ