A slave girl from among the people of Madinah would take the hand of the Messenger of Allah ﷺ and lead him off to wherever she needed him to go.
حدثنا هشيم أنبأنا حميد
إن كانت الأمة من أهل المدينة لتأخذ بيد رسول الله ﷺ فتنطلق به في حاجتها
Its isnad is sahih. Hushaym is Ibn Bashir, and Humayd is Ibn Abu Humayd Tawil. Bukhari transmitted the hadith in 8/24, Adab, Kibr.