Sayyiduna Ibn Abbas (may Allah be pleased with them both) narrated that the Prophet (peace and blessings of Allah be upon him) performed Tawaf on his camel during the Farewell Pilgrimage, and he was touching the Black Stone with a stick and then kissing that stick.

Umm al-Mu'mineen Sayyida Umm Salamah (may Allah be pleased with her) narrates that I complained to the Messenger of Allah (peace and blessings be upon him) about my illness during the Farewell Pilgrimage (I said that I am unable to perform Tawaf on foot). So he said: Stay behind the people and perform Tawaf while riding. Thus, I performed Tawaf, and the Messenger of Allah (peace and blessings be upon him) was at that time near the House of Allah, reciting the verse "By the Mount, and by a Book inscribed" in prayer.