2 Samuel 6:1-9

1 David again gathered all the chosen men of Israel, thirty thousand.
2 David and all the people with him set out and went from Baale-judah, to bring up from there the ark of God, which is called by the name of the Lord of hosts who is enthroned on the cherubim.
3 They carried the ark of God on a new cart, and brought it out of the house of Abinadab, which was on the hill. Uzzah and Ahio, the sons of Abinadab, were driving the new cart
4 with the ark of God; and Ahio went in front of the ark.
5 David and all the house of Israel were dancing before the Lord with all their might, with songs and lyres and harps and tambourines and castanets and cymbals.
6 When they came to the threshing floor of Nacon, Uzzah reached out his hand to the ark of God and took hold of it, for the oxen shook it.
7 The anger of the Lord was kindled against Uzzah; and God struck him there because he reached out his hand to the ark; and he died there beside the ark of God.
8 David was angry because the Lord had burst forth with an outburst upon Uzzah; so that place is called Perez-uzzah, to this day.
9 David was afraid of the Lord that day; he said, "How can the ark of the Lord come into my care?"