Bulugh al-Maram, Book 6, Hadith 44 (In-Book)

Abu At-Tufail (RAA) narrated, ‘l saw Allah’s Messenger making Tawaf round the Ka'bah and he was touching the corner (of the Black Stone) with a stick that he had with him and then kissing the stick.’ Related by Muslim.

وَعَنْ أَبِي اَلطُّفَيْلِ ‏- رضى الله عنه ‏- قَالَ: { رَأَيْتُ رَسُولَ اَللَّهِ ‏- صلى الله عليه وسلم ‏-يَطُوفُ بِالْبَيْتِ وَيَسْتَلِمُ اَلرُّكْنَ بِمِحْجَنٍ مَعَهُ, وَيُقْبِّلُ اَلْمِحْجَنَ } رَوَاهُ مُسْلِمٌ 1‏.‏ ‏1 ‏- حسن.‏ رواه مسلم ( 1275 )‏، والمحجن: عصا محنية الرأس.‏

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also referenced under: Book 6, Hadith 771 (English)