The Messenger of Allah ﷺ performed the circumambulation during the Farewell Pilgrimage on a camel, touching the corner with a Mihjan.
أخبرنا سليمان بن داود عن ابن وهب قال أخبرني يونس عن ابن شهاب عن عبيد الله بن عبد الله
أن رسول الله 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 1607, and Muslim, in Hajj, chapter on the permissibility of performing tawaf on a camel or otherwise, hadith 1272, from the hadith of Abdullah bin Wahb through the same chain, and it is in Al-Kubra, hadith 792.