Aishah said: "We went out with the Messenger of Allah (ﷺ) when there were five days left of Dhul-Qa'dah, with no intention other than to perform Hajj. When we were close to Makkah, the Messenger of Allah (ﷺ) commanded those who did not have a Hadi (sacrificial animal) with them to exit Ihram after circumambulating the House.''
Source: sunnah.com
Other translations
Arabic
أَخْبَرَنَا هَنَّادُ بْنُ السَّرِيِّ، عَنِ ابْنِ أَبِي زَائِدَةَ، قَالَ حَدَّثَنَا يَحْيَى بْنُ سَعِيدٍ، قَالَ أَخْبَرَتْنِي عَمْرَةُ، أَنَّهَا سَمِعَتْ عَائِشَةَ، تَقُولُ خَرَجْنَا مَعَ رَسُولِ اللَّهِ صلى الله عليه وسلم لِخَمْسٍ بَقِينَ مِنْ ذِي الْقَعْدَةِ لاَ نُرَى إِلاَّ الْحَجَّ حَتَّى إِذَا دَنَوْنَا مِنْ مَكَّةَ أَمَرَ رَسُولُ اللَّهِ صلى الله عليه وسلم مَنْ لَمْ يَكُنْ مَعَهُ هَدْىٌ إِذَا طَافَ بِالْبَيْتِ أَنْ يَحِلَّ .
sunnah.com