2 Samuel 6:1-7

David again gathered all the chosen men of Israel—thirty thousand of them. Then he and all his people went to Baalah in Judah to bring back the Ark of God. The Ark is called by the Name, the name of the LORD All-Powerful, whose throne is between the gold creatures with wings. They put the Ark of God on a new cart and brought it out of Abinadab’s house on the hill. Uzzah and Ahio, sons of Abinadab, led the new cart which had the Ark of God on it. Ahio was walking in front of it. David and all the Israelites were celebrating in the presence of the LORD. They were playing wooden instruments: lyres, harps, tambourines, rattles, and cymbals. When David’s men came to the threshing floor of Nacon, the oxen stumbled. So Uzzah reached out to steady the Ark of God. The LORD was angry with Uzzah and killed him because of what he did. So Uzzah died there beside the Ark of God.