Mishkat al-Masabih 29 Excellent Qualities and Description of the Prophet كتاب الفضائل والشمائل 69

وَعَنْهُ قَالَ: كَانَتْ أَمَةٌ مِنْ إِمَاءِ أَهْلِ الْمَدِينَةِ تَأْخُذُ بِيَدِ رَسُولِ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ فَتَنْطَلِقُ بِهِ حَيْثُ شَاءَتْ. رَوَاهُ البُخَارِيّ

He told that one of the maidservants belonging to the people of Medina would hold God’s messenger by the hand and take him where she wished. Bukhari transmitted it.