Baqī was of special importance as a historical cemetery for Muslims. This cemetery found a special place from the very beginning of the Prophet’s migration to Medina as some of the great Companions were buried therein. The emphasis and practice of the Prophet (S) in visiting the graves of Baqī, which was followed by other infallibles (as), caused Muslims to respect and pilgrim those buried in Baqī throughout the Islamic centuries. This descriptive-analytical article aims to respond to the question: What were the rituals of pilgrimage to Baqī in the traditions and manners of the Infallibles (as), from the Prophet (S) to Imam Ridha (as)? The reason for choosing this period of time was the presence of the Imams (as) in Medina and the reflection of their manners and traditions regarding the pilgrimage to Baqī in accordance with sources. The article concludes that pilgrimage to Baqī was considered by the Messenger of God (S) and other Infallibles (as) since the burial of the first Companions therein. In addition to mentioning the virtue of pilgrimage to Baqī, they also took practical actions to honor those buried there.