The Messenger of Allah ﷺ never failed to touch the Yemeni Corner and the Black Stone in every circuit of tawaf.
كان رسول الله ﷺ لا يدع أن يستلم الركن اليماني، والحجر في كل طواف.
Narrated by Abu Dawud (1876), Nasai (2950), and Ahmad (4686), and graded sahih by Ibn Khuzayma (2723) and Hakim (1/456), all of them from the hadith of Abdul-Aziz bin Abu Rawwad, from Nafi, from Ibn Umar, and he mentioned it. He said, Abdullah bin Umar used to do it. Its chain is hasan because of Ibn Abu Rawwad, for he is hasan al-hadith.