1 Chronicles 13:9-13

When they came to the threshing floor of Chidon, Uzza put out his hand to hold and steady the ark, for the oxen [that were drawing the cart] nearly overturned it. The anger of the LORD burned against Uzza, and He struck him down because he touched the ark; and there he died before God. [Num 4:15] David became angry because of the LORD’S outburst against Uzza; so that place is called Perez-uzza to this day. David was afraid of God that day, and he said, “How can I bring the ark of God home with me?” So David did not bring the ark with him to the City of David, but took it aside to the house of Obed-edom the Gittite. [Josh 21:20, 24; 1 Chr 15:24]