The Prophet ﷺ and his companions performed Hajj on foot from Madinah to Makkah. He said, "Tie your waists with your lower garments," and he walked at a pace mixed with light jogging.
حدثنا إسمعيل بن حفص الأبلي حدثنا يحيى بن يمان عن حمزة بن حبيب الزيات عن حمران بن أعين عن أبي الطفيل
حج النبي ﷺ وأصحابه مشاة من المدينة إلى مكة وقال اربطوا أوساطكم بأزركم ومشى خلط الهرولة
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[Its chain of transmission is daif] Ibn Khuzayma reported it in his Sahih, 4/139, no. 2535, from Ismail bin Hafs, with this chain. Hakim declared it sahih, 1/442, as did Dhahabi, but Busiri declared it daif, saying, Humran bin Ayan Kufi, about whom Ibn Main said, "He is worthless," Abu Dawud said, "He is a Rafidi," and Nasai said, "He is not reliable." The correct view is that of Busiri.