ENOfficial
Ibn Mas'ud reported God’s messenger as saying, “I forbade you to visit graves, but you may now visit them, for they produce abstinence in this world and act as a reminder of the next.” Ibn Majah transmitted it.
Source: sunnah.com
Other translations
Arabic
وَعَنِ ابْنِ مَسْعُودٍ أَنَّ رَسُولَ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ قَالَ: «كُنْتُ نَهَيْتُكُمْ عَنْ زِيَارَةِ الْقُبُورِ فَزُورُوهَا فَإِنَّهَا تُزَهِّدُ فِي الدُّنْيَا وتذكر الْآخِرَة» . رَوَاهُ ابْن مَاجَه
sunnah.com