What is the ruling on frequently visiting the grave of the Prophet (peace and blessings be upon him), and what was the manner of the Companions’ visit to his grave?

Question:
May Allah reward you. Honorable Shaykh, Salih is asking: What was the method of the Companions and the Successors in visiting the grave of the Prophet (peace and blessings be upon him)? Does a person visit every time he enters the Prophet’s Mosque, or with every obligatory prayer of the five daily prayers?

Answer:
No, this is not permissible. Frequently visiting the grave of the Messenger (peace and blessings be upon him) is a religious innovation (bid'ah). He (peace and blessings be upon him) said: Meaning, you keep coming back to it and sitting by it. The visit to the grave of the Messenger (peace and blessings be upon him) is for the one arriving from a journey, whether he is from the people of Madinah or from elsewhere. The one arriving from a journey greets the Messenger (peace and blessings be upon him) and his two companions, then departs. If he wishes to make supplication to Allah, he makes supplication in the Messenger’s Mosque (peace and blessings be upon him), and he prays in the Messenger’s Mosque (peace and blessings be upon him).
Ibn 'Umar (may Allah be pleased with them both), when he came as a visitor, when he came from a journey, he would stand by the grave of the Messenger (peace and blessings be upon him), facing it, and say: “Peace be upon you, O Messenger of Allah.” Then he would step back a little and say: “Peace be upon you, O Abu Bakr al-Siddiq.” Then he would step back a little to his right and say: “Peace be upon you, O 'Umar ibn al-Khattab, and O my father.” Then he would depart (may Allah be pleased with him). Yes.