I saw'lbn 'Umar (Allah be pleased with them) touching the Stone with his hand and then kissing his hand. and he said: I have never abandoned it since I saw Allah's Messenger (ﷺ) doing It.
Reference: Sahih Muslim 1268 b In-book : Book 15, Hadith 271 USC-MSA web (English) : Book 7, Hadith 2910 (deprecated)
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