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Thauban told how when they went out with the Prophet (ﷺ) to a funeral he saw some people riding and said, “Are you not ashamed ? God’s angels are on their feet, while you are on the backs of animals." Tirmidhi and Ibn Majah transmitted it, and Abu Dawud transmitted something similar. Tirmidhi said it has been transmitted from Thauban in mauquf form.
Source: sunnah.com
Other translations
Arabic
وَعَنْ ثَوْبَانَ قَالَ: خَرَجْنَا مَعَ النَّبِيِّ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ فِي جَنَازَةٍ فَرَأَى نَاسًا رُكْبَانًا فَقَالَ: «أَلَا تَسْتَحْيُونَ؟ إِنَّ مَلَائِكَةَ اللَّهِ عَلَى أَقْدَامِهِمْ وَأَنْتُمْ عَلَى ظُهُورِ الدَّوَابِّ» . رَوَاهُ التِّرْمِذِيُّ وَابْنُ مَاجَهْ وَرَوَى أَبُو دَاوُدَ نَحْوَهُ وَقَالَ التِّرْمِذِيّ: وَقد روى عَن ثَوْبَان مَوْقُوفا
sunnah.com