Usāmah ibn Zayd (may Allah be pleased with him) rode behind the Messenger (may Allah's peace and blessings be upon him) on his camel from ‘Arafah to Muzdalifah during Hajj. Therefore, he was the most knowledgeable regarding how he traveled. He said he would travel in a moderate pace when there was a crowd, but when he saw a gap in the crowd, he would increase the speed a bit, since it wouldn't harm anyone then.