When he, sallallaahu ‘alayhi wa sallam, conquered Makkah, he entered the Sacred Mosque of Makkah, so Abu Bakr (a Companion and the first Caliph) came to him accompanied by his father Abu Quhaafah (who was a non-Muslim at the time).
When the Prophet of Allah, sallallaahu ‘alayhi wa sallam, saw him (the father), he said: “Why didn’t you leave the old man at home? I should have been the one to go to him.” Abu Bakr said: “O Messenger of Allah, you are more deserving of having him walk to than you walking to him.” Then he, sallallaahu ‘alayhi wa sallam, sat him down in front of him, wiped his chest with his hand and then said to him: “Embrace Islam” so he became Muslim.1
This narration highlights many aspects of respect on the part of the Prophet of Allah, sallallaahu ‘alayhi wa sallam, to elders, such as expressing his will to go to the old man (though he was not yet a Muslim); he sat him in front of him as a way of honoring him; and then wiped his chest as a way of showing kindness.