وَعَنْهُ قَالَ: كَانَ رَسُولُ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ إِذَا أَدْخَلَ رِجْلَهُ فِي الْغَرْزِ وَاسْتَوَتْ بِهِ نَاقَتُهُ قَائِمَةً أَهَلَّ منَ عندِ مسجدِ ذِي الحليفة

He said that when God’s messenger put his foot in the stirrup and his she-camel stood up with him on its back, he raised his voice in the talbiya from the mosque of Dhul Hulaifa. Bukhari and Muslim.