It was narrated from 'Abdullah bin 'Abbas that the Messenger of Allah ﷺ performed Tawaf during the Farewell Pilgrimage atop a camel, touching the Rukn [1] with a stick that was bent at the top. [1] The corner of the Ka'bah in which the Black Stone is situated.  

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