Numbers 22:8-9, 31-35

And he said to them, “Lodge here tonight, and I will bring back word to you, as the LORD speaks to me.” So the princes of Moab stayed with Balaam. Then God came to Balaam and said, “Who are these men with you?”

Then the LORD opened Balaam’s eyes, and he saw the Angel of the LORD standing in the way with His drawn sword in His hand; and he bowed his head and fell flat on his face. And the Angel of the LORD said to him, “Why have you struck your donkey these three times? Behold, I have come out to stand against you, because your way is perverse before Me. The donkey saw Me and turned aside from Me these three times. If she had not turned aside from Me, surely I would also have killed you by now, and let her live.” And Balaam said to the Angel of the LORD, “I have sinned, for I did not know You stood in the way against me. Now therefore, if it displeases You, I will turn back.” Then the Angel of the LORD said to Balaam, “Go with the men, but only the word that I speak to you, that you shall speak.” So Balaam went with the princes of Balak.