Numbers 22:21-23

Balaam got up in the morning, saddled his donkey and went with the Moabite officials. But God was very angry when he went, and the angel of the LORD stood in the road to oppose him. Balaam was riding on his donkey, and his two servants were with him. When the donkey saw the angel of the LORD standing in the road with a drawn sword in his hand, it turned off the road into a field. Balaam beat it to get it back on the road.