The Book of Pilgrimage
وَحَدَّثَنَا يَحْيَى بْنُ يَحْيَى، قَالَ قَرَأْتُ عَلَى مَالِكٍ عَنْ عَبْدِ اللَّهِ بْنِ دِينَارٍ، عَنْ عَبْدِ، اللَّهِ بْنِ عُمَرَ أَنَّ رَسُولَ اللَّهِ صلى الله عليه وسلم كَانَ يَأْتِي قُبَاءً رَاكِبًا وَمَاشِيًا .Abdullah b. Umar (Allah be pleased with them) reported that Allah's Messenger (ﷺ) used to come to Quba' riding and on foot
From Sahih Muslim, whose reports the scholars accept as authentic.