It is stated in the Holy Qur’an: “And I entrusted Ibrahim and Ismail (peace be upon them) with the duty: Purify My House for those who perform tawaf and those who observe i‘tikaf.”[1] From this verse, it is understood that tawaf began from the time the Ka‘bah was built.
[1] وَعَهِدْنَا إِلَى إِبْرَاهِيمَ وَإِسْمَاعِيلَ أَنْ طَهِّرَا بَيْتِيَ لِلطَّائِفِينَ وَالْعَاكِفِينَ وَالرُّكَّعِ السُّجُودِ (Surah Al-Baqarah: 125)