II Samuel 6:2-9

And David arose and went with all the people who were with him from Baale Judah to bring up from there the ark of God, whose name is called by the Name, the LORD of Hosts, who dwells between the cherubim. So they set the ark of God on a new cart, and brought it out of the house of Abinadab, which was on the hill; and Uzzah and Ahio, the sons of Abinadab, drove the new cart. And they brought it out of the house of Abinadab, which was on the hill, accompanying the ark of God; and Ahio went before the ark. Then David and all the house of Israel played music before the LORD on all kinds of instruments of fir wood, on harps, on stringed instruments, on tambourines, on sistrums, and on cymbals. And when they came to Nachon’s threshing floor, Uzzah put out his hand to the ark of God and took hold of it, for the oxen stumbled. Then the anger of the LORD was aroused against Uzzah, and God struck him there for his error; and he died there by the ark of God. And David became angry because of the LORD’s outbreak against Uzzah; and he called the name of the place Perez Uzzah to this day. David was afraid of the LORD that day; and he said, “How can the ark of the LORD come to me?”