Narrated Anas b. Malik :

The Messenger of Allah (ﷺ) saw a man that he was supported between his sons. He asked about him, and (the people) said: He has taken a vow to walk (on foot). Thereupon he said: Allah has no need that this man should punish himself, and he ordered him to ride. Abu Dawud said: 'Amr b. Abi 'Amir has also narrated a similar tradition from al-A'raj on the authority of Abu Hurairah from the Prophet (ﷺ).

حَدَّثَنَا مُسَدَّدٌ، حَدَّثَنَا يَحْيَى، عَنْ حُمَيْدٍ الطَّوِيلِ، عَنْ ثَابِتٍ الْبُنَانِيِّ، عَنْ أَنَسِ بْنِ مَالِكٍ، ‏:‏ أَنَّ رَسُولَ اللَّهِ صلى الله عليه وسلم رَأَى رَجُلاً يُهَادَى بَيْنَ ابْنَيْهِ فَسَأَلَ عَنْهُ فَقَالُوا ‏:‏ نَذَرَ أَنْ يَمْشِيَ ‏.‏ فَقَالَ ‏:‏ ‏

‏ إِنَّ اللَّهَ لَغَنِيٌّ عَنْ تَعْذِيبِ هَذَا نَفْسَهُ ‏

‏ ‏.‏ وَأَمَرَهُ أَنْ يَرْكَبَ ‏.‏ قَالَ أَبُو دَاوُدَ ‏:‏ رَوَاهُ عَمْرُو بْنُ أَبِي عَمْرٍو عَنِ الأَعْرَجِ عَنْ أَبِي هُرَيْرَةَ عَنِ النَّبِيِّ صلى الله عليه وسلم نَحْوَهُ ‏.‏