From Sahih Muslim (Hadith 3106):
Hisham (Allah be pleased with him) reported from his father:Usama (Allah be pleased with him) was asked in my presence or I asked Usama b. Zaid andhe rode behind Allah's Messenger (ﷺ) as he came back from 'Arafat. I said (to him): How did Allah's Messenger (ﷺ) journey as he came back from 'Arafat? Thereupon he said: He made it (his riding camel) walk at a slow speed, and when he found an open space, he made it walk briskly
Reference: Muslim 3106