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]. (JA)
App reference (JA): Book 6, Hadith 42 (JA)
Arabic/English book reference (JA): Book 6, Hadith 886 (JA)