2 Samuel 6:3-9

They set the ark of God on a new cart and transported it from Abinadab’s house, which was on the hill. Uzzah and Ahio,  sons of Abinadab, were guiding the cart  and brought it with the ark of God from Abinadab’s house on the hill. Ahio walked in front of the ark. David and the whole house of Israel were dancing before the LORD with all kinds of fir wood instruments,  lyres, harps, tambourines, sistrums,  and cymbals.  When they came to Nacon’s threshing floor, Uzzah reached out to the ark of God and took hold of it because the oxen had stumbled. Then the LORD’s anger burned against Uzzah,  and God struck him dead on the spot for his irreverence,  and he died there next to the ark of God. David was angry because of the LORD’s outburst against Uzzah, so he named that place Outburst Against Uzzah,  as it is today. David feared the LORD that day and said, “How can the ark of the LORD ever come to me? ”