1) Usayd bin Hudayr (رضي الله عنه):
Narrated Usayd ibn Hudayr,:
Abdur Rahman ibn Abu Layla,
quoting Usayd ibn Hudayr, a man of the Ansar, said that while he was given to jesting and was talking to the people and making them laugh,
the Prophet (ﷺ) poked him under the ribs with a stick.
He said: Let me take retaliation.
He(ﷺ) said: Take retaliation.
He said: You are wearing a shirt but I am not.
The Prophet (ﷺ) then raised his shirt and the man (Usayd bin Hudayr) embraced him and began to kiss his side.
Then he said: This is what I wanted, Messenger of Allah!
(Sunan Abu Dawud,5224, Sahih Al-Albani)
2)Sawwad bin Ghaziyyah (رضي الله عنه):
Ibn Ishaq stated,
“Habban bin Wasi’ bin Habban related to me, from the sheikhs of his tribe, that when the Messenger of Allah ﷺ lined up his forces at the Battle of Badr, he ﷺ held an arrow which he used to indicate how they should adjust their position (and correct their formation).
He ﷺ passed by Sawwad bin Ghaziyyah, an ally of the Banu ‘Adi bin An-Najjar, and who was a little ahead of the line.
He ﷺ poked him in the belly with the arrow,saying,
‘Straighten up, Sawwad!!
“He replied, ‘O Messenger of Allah, I swear by Him who sent you with the truth and justice that you hurt me! So let me retaliate!’
“The Messenger of Allah ﷺ promptly uncovered his stomach and said,
‘Retaliate then!’
Sawwad hugged him and then kissed his stomach.
The Messenger of God ﷺ, asked, ‘Why did you do that, Sawwad?’
He replied,’O Messenger of Allah! You can see what is about to happen (i.e. the battle of Badr); I wanted my last
contact with you to be my skin touching yours.’
The Messenger of Allah ﷺ then supplicated for him.”
Shaikh Al-Albani said that this narration is Hasan in Silsilatul Ahadith As-Saheeha 6/707 and Saheeh Mursal in 2835.
Saheehus-Seerah 