The Prophet ﷺ performed the circumambulation during the Farewell Pilgrimage on a camel, touching the corner with a curved staff.
حدثنا أحمد بن عمرو بن السرح أنبأنا عبد الله بن وهب عن يونس عن ابن شهاب عن عبيد الله بن عبد الله
أن النبي ﷺ طاف في حجة الوداع على بعير يستلم الركن بمحجن
Bukhari narrated it in Hajj, chapter on touching the corner with a riding stick, hadith no. 1607, and Muslim in Hajj, chapter on the permissibility of performing tawaf on a camel or otherwise, etc., hadith no. 1272, from the hadith of Ibn Wahb, through this same chain.