Narrated Anas:
The Prophet (ﷺ) passed by old man walking (while supported) between his two sons, so he said: 'What is the matter with this one?' They said: O Messenger of Allah! He vowed to walk.' He said: 'Verily Allah [the Mighty and Sublime] is in no need of this person punishing himself.' He said: So he ordered him to ride.
Another Chain from Anas that the Messenger of Allah (ﷺ) saw a man, and he mentioned similarly.