Did the Prophet (ﷺ) kiss the black stone or did he only touch it?

Isn’t it shirk to kiss the black stone?

The Prophet (salallaahu alaihi wasallam) kissed the Black Stone, and to do so is not shirk unless one believes that it can benefit one or protect one from harm. When you kiss your father or mother, is that shirk? Or you kiss your wife or children, is that shirk? By kissing the Black Stone one links physically and spiritually with the believers over the tens of thousands of years who kissed this only part of the Ka'bah that has remained intact over the millenniums of rebuilding, perhaps from the time of Prophet Adam. [1]

Reference:

[1] Sheikh S Al-Fawzan, A Summary of Islamic Jurisprudence, 1/ 415