Anas (May Allah be pleased with him) reported:
When the people of Yemen came, the Messenger of Allah (ﷺ) said, "The people of Yemen have visited you. They are the first to introduce the tradition of handshaking."[Abu Dawud]. (ES)
App reference (ES): Book 6, Hadith 42 (ES)
Arabic/English book reference (ES): Book 6, Hadith 886 (ES)