Mishkat al-Masabih 10 The Rites of Pilgrimage كتاب المناسك 63

وَعَنِ ابْنِ عَبَّاسٍ قَالَ: طَافَ النَّبِيَّ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ فِي حَجَّةِ الْوَدَاعِ عَلَى بعير يسْتَلم الرُّكْن بمحجن

Ibn ‘Abbas said that the Prophet performed the circumambulation at the Farewell Pilgrimage on a camel and touched the corner with a crooked stick. Bukhari and Muslim.