Sahih Muslim Book 7, Hadith Number 2920.

Chapter : It is permissible to observe Tawaf on the back of a camel or any other riding beast, and to touch the black stone with a stick.

‘Aisha (Allah be pleased with her) reported that Allah’s Apostle (may peace be upon him) circumambulated the Ka’ba on the back of his camel on the occasion of the Farewell Pilgrimage and touched the corner and he did not like that the people should be pushed away from him.