What is the proof for the lawfulness of visiting the grave of the Prophet, sallallahu ^alayhi wa sallam? 

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Visiting the grave of the Prophet, sallallahu ^alayhi wa sallam, is a Sunnah, which is a preferred and rewardable deed. Qadi ^Iyad and an-Nawawiyy both reported the scholarly consensus (Ijma^) on this issue.  In Suratun-Nisa’, Ayah 64 means, “If only, when they are unjust to themselves, they come to you and ask Allah for forgiveness, and the Messenger asks forgiveness for them, Allah will forgive them and have mercy upon them.” The Prophet, sallallahu ^alayhi wa sallam said, “He who visits my grave, will be granted my greatest intercession.” This hadith is reported by ad-Daraqutniyy and strengthened by Hafidh as-Subkiyy. The Prophet also said, “Eagerness to travel for prayer should be directed to these three mosques the Mosques of Al-Haram [in Makkah], the mosque of Al-Aqsa [in Jerusalem] and my mosque [in Madinah]”. This hadith means that if a person wants to travel to pray in a mosque, then those three mosques should be his first choice in travel because the reward for prayer in them is multiplied. This is strictly a recommendation not an obligation. Moreover, the hadith refers to traveling strictly for the matter of prayer and does not suggest that one cannot travel to visit the grave of the Prophet, sallallahu ^alayhi wa sallam.