It's discussed in this video from the 2.00 min timeframe onwards.
This video is also uploaded here and here
Book 10, Number 1814: Narrated Asma' bint AbuBakr: We came out for performing hajj along with the Apostle of Allah (peace_be_upon_him). When we reached al-Araj, the Apostle of Allah (peace_be_upon_him) alighted and we also alighted. Aisha sat beside the Apostle of Allah (peace_be_upon_him) and I sat beside my father (AbuBakr). The equipment and personal effects of AbuBakr and of the Apostle of Allah (peace_be_upon_him) were placed with AbuBakr's slave on a camel. AbuBakr was sitting and waiting for his arrival. He arrived but he had no camel with him. He asked: Where is your camel? He replied: I lost it last night. AbuBakr said: There was only one camel, even that you have lost. He then began to beat him while the Apostle of Allah (peace_be_upon_him) was smiling and saying: Look at this man who is in the sacred state (putting on ihram), what is he doing? Ibn AbuRizmah said: The Apostle of Allah (peace_be_upon_him) spoke nothing except the words: Look at this man who is in the sacred state (wearing ihram), what is he doing? He was smiling (when he uttered these words).
Bible: Exodus 21:20-21New International Version (NIV) 20 “Anyone who beats their male or female slave with a rod must be punished if the slave dies as a direct result, 21 but they are not to be punished if the slave recovers after a day or two, since the slave is their property.
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