"The Prophet ﷺ passed by old man walking (while supported) between his two sons, so he said: 'What is the matter with this one?' They said: "O Messenger of Allah! He vowed to walk.' He said: 'Verily Allah [the Mighty and Sublime] is in no need of this person punishing himself.'" He said: "So he ordered him to ride."
مَرَّ النَّبِيُّ ﷺ بِشَيْخٍ كَبِيرٍ يَتَهَادَى بَيْنَ ابْنَيْهِ فَقَالَ مَا بَالُ هَذَا قَالُوا يَا رَسُولَ اللَّهِ نَذَرَ أَنْ يَمْشِيَ قَالَ إِنَّ اللَّهَ ﷻ لَغَنِيٌّ عَنْ تَعْذِيبِ هَذَا نَفْسَهُ قَالَ فَأَمَرَهُ أَنْ يَرْكَبَ