Yaala reported,

I was performing tawaf with Umar bin Khattab. When we reached the corner that is next to the door, on the side near the Hijr, I took his hand to have him touch it.He said, "Did you not perform tawaf with the Messenger of Allah ﷺ?"I replied, "Yes."He asked, "Did you see him touch it?"I said, "No."He said, "Then move on. You have in the Messenger of Allah an excellent example."

Azami 4982

Sahih

عن يعلى قال

طفت مع عمر بن الخطاب، فلما كنت عند الركن الذي يلي الباب مما يلي الحجر، أخذت بيده ليستلم، فقال: أما طفت مع رسول الله ﷺ؟ قلت بلى. قال: فهل رأيته يستلمه؟ قلت: لا. قال: فانفذ عنك، فإن لك في رسول الله أسوة حسنة.

الأعظمي 4982صحيح
Contents
Reference
Commentary
Ayat
Collection
Jami al-Kamil
Book
Hajj
Chapter
Description of the Hajj of the Prophet ﷺ as narrated by Jabir and others, and the rulings mentioned therein
Section
Not touching the two corners adjacent to the Hijr
Numbering
Jami al-Kamil 4982 (2nd edition)
Azami 4982