Numbers 22:8-9, 31-35

Balaam said to them, “Stay here for the night, and I will tell you what the LORD tells me.” So the Moabite leaders stayed with him. God came to Balaam and asked, “Who are these men with you?”

Then the LORD let Balaam see the angel of the LORD, who was standing in the road with his sword drawn. Then Balaam bowed facedown on the ground. The angel of the LORD asked Balaam, “Why have you hit your donkey three times? I have stood here to stop you, because what you are doing is wrong. The donkey saw me and turned away from me three times. If she had not turned away, I would have killed you by now, but I would have let her live.” Then Balaam said to the angel of the LORD, “I have sinned; I did not know you were standing in the road to stop me. If I am wrong, I will go back.” The angel of the LORD said to Balaam, “Go with these men, but say only what I tell you.” So Balaam went with Balak’s leaders.