2nd Samuel 6:3

1 And David again gathered together all the chosen men of Israel, thirty thousand.

2 And David arose, and went with all the people that were with him, from Baale-judah, to bring up from thence the ark of God, which is called by the Name, even the name of Jehovah of hosts that sitteth [above] the cherubim.

3 And they set the ark of God upon a new cart, and brought it out of the house of Abinadab that was in the hill: and Uzzah and Ahio, the sons of Abinadab, drove the new cart.

4 And they brought it out of the house of Abinadab, which was in the hill, with the ark of God: and Ahio went before the ark.

5 And David and all the house of Israel played before Jehovah with all manner of [instruments made of] fir-wood, and with harps, and with psalteries, and with timbrels, and with castanets, and with cymbals.

6 And when they came to the threshing-floor of Nacon, Uzzah put forth [his hand] to the ark of God, and took hold of it; for the oxen stumbled.

7 And the anger of Jehovah was kindled against Uzzah; and God smote him there for his error; and there he died by the ark of God.