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Visiting the poor and the sick, helping the needy and the destitute, attending the funeral prayers etc were some of his habits. He did not feel he was above accepting the invitation of a slave or riding a donkey. He sat among his friends as if he was an ordinary person and one of them. 'Aisha said that he used to repair his shoes, sew or mend his clothes and do what ordinary men did in their homes.
Anas ibn Malik (May Allah be pleased with him) relates, "Rasulullah sallallaahu 'alayhi wasallam would visit the sick, attend the Janaza Salaat (funeral prayers), ride on a donkey, and accept the invitation of a slave. During the campaign of the Banu Quraiza he rode a donkey with a rein and saddle of palm fibres" (Shamaaile Tirmidhi)
Despite his being the most honoured and virtuous creation of Allah ta'ala he did not find it to be below his dignity to visit the sick and despite this fact he did not show any disparagement in riding a donkey even though it was regarded as an inferior mode of conveyance to a horse.
Anas (may Allah be pleased with him) relates, " Rasulullah sallallaahu 'alayhi wasallam accepted invitations in which bread made of barley and stale fat was served."
Note that fat smells when it becomes stale and the nature of the food to be served can be ascertained by the host's status yet knowing the menu did not deter him from accepting the invitation.