Midrash for Chagigah 3:2
איזהו קטן כל שאינו יכול לרכוב על כתפיו של אביו ולעלות מירושלים להר הבית דברי בית שמאי ובית הלל אומרים כל שאינו יכול לאחוז בידו של אביו ולעלות מירושלים להר הבית שנאמר (שמות כג, יד) שלש רגלים
What is the definition of a child? One who is not able to ride upon his father's shoulders, and to go up from Jerusalem to the mountain of the Temple. These are the words of the house of Shammai. But the house of Hillel say, Anyone who is not able to take hold of his father's hand, and to go up from Jerusalem to the mountain of the House, as it is said, (Exodus 23:14) "three times."
Sifrei Devarim
Which minor is exempt? One who cannot "ride" on his father's shoulder and go up to Jerusalem to the Temple mount. These are the words of Beth Shammai, it being written "your males." Beth Hillel say: One who cannot hold on to his father's hand and go up to Jerusalem to the Temple mount, it being written (Shemoth 23:14) "Three regalim (festivals)," lit., "feet."
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