Mishkat al-Masabih 10 The Rites of Pilgrimage كتاب المناسك 65

وَعَنْ أَبِي الطُّفَيْلِ قَالَ: رَأَيْتُ رَسُولَ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ يَطُوفُ بِالْبَيْتِ وَيَسْتَلِمُ الرُّكْنَ بِمِحْجَنٍ مَعَهُ ويقبِّلُ المحجن. رَوَاهُ مُسلم

Abut Tufail said he saw God’s messenger going round the House, touching the corner with a crooked stick which he had, and kissing the crooked stick. Muslim transmitted it.