Musnad Ahmad 32:676

Sulayman narrated to us, Isma'il informed us, he said: Humayd informed me, from Anas: "That the Prophet, may Allah bless him and grant him peace, when he would return from a journey and look at the walls of Medina, he would quicken his mount. And if he were on a beast, he would stir it [to move faster] out of his love for it."