When the Prophet would return from a trip and see the walls of Al-Madinah, he would speed up his riding camel, and if he was upon a beast, he would agitate it, out of his love for Al-Madinah.
أَنَّ النَّبِيَّ ﷺ كَانَ إِذَا قَدِمَ مِنْ سَفَرٍ فَنَظَرَ إِلَى جُدُرَاتِ الْمَدِينَةِ أَوْضَعَ رَاحِلَتَهُ وَإِنْ كَانَ عَلَى دَابَّةٍ حَرَّكَهَا مِنْ حُبِّهَا