1 Chronicles 13:7-9

And they carried the ark of God on a new cart, from the house of Abinadab, and Uzzah and Ahio were driving the cart. And David and all Israel were celebrating before God with all their might, with song and lyres and harps and tambourines and cymbals and trumpets. And when they came to the threshing floor of Chidon, Uzzah put out his hand to take hold of the ark, for the oxen stumbled.