2 Samuel 6:1-7

Then David again gathered all the elite troops in Israel, 30,000 in all. He led them to Baalah of Judah to bring back the Ark of God, which bears the name of the LORD of Heaven’s Armies, who is enthroned between the cherubim. They placed the Ark of God on a new cart and brought it from Abinadab’s house, which was on a hill. Uzzah and Ahio, Abinadab’s sons, were guiding the cart that carried the Ark of God. Ahio walked in front of the Ark. David and all the people of Israel were celebrating before the LORD, singing songs and playing all kinds of musical instruments—lyres, harps, tambourines, castanets, and cymbals. But when they arrived at the threshing floor of Nacon, the oxen stumbled, and Uzzah reached out his hand and steadied the Ark of God. Then the LORD’s anger was aroused against Uzzah, and God struck him dead because of this. So Uzzah died right there beside the Ark of God.