Fiqh-us-Sunnah Volume 5, Hajj and ‘Umrah, Fiqh 5.016.

Al-Hafiz writes in Al-Fath: “Ibn al-Munzhir says there is a difference of opinion as to what is better for a pilgrim, walking or riding during the Hajj.

The majority of scholars hold riding is better, for the Prophet (peace be upon him) did so, and because it is more helpful (in concentrating) on praying and making supplications to Allah, apart from other benefits.

Ishaq bin Rahoweh says: “Walking is preferable for it involves more exertion and hardship (in the cause of Allah).” We may say that whether a person walks or rides during Hajj depends on each person and his particular circumstance.

Bukhari has transmitted from Anas (may Allah be pleased with him) that the Prophet (peace be upon him) saw a man leaning on both sides on his two sons, whereupon he asked: “What is the matter with this man?” The people said: “He has vowed to walk during Hajj.” The Prophet (peace be upon him) said: “Allah is in no need whatever of torturing this man.” Then he commanded the man to perform his Hajj riding.”