1 Chronicles 13:3-7

and let us bring back the ark of our God to us, since we did not seek it in the days of Saul.”

Then all the assembly said that they would do so, for this was right in the eyes of all the people.

So David assembled all Israel together, from the Shihor of Egypt to the entrance of Hamath, to bring the ark of God from Kiriath-jearim.

David and all Israel went up to Baalah, that is, to Kiriath-jearim, which belongs to Judah, to bring up from there the ark of God, the Lord who is enthroned above the cherubim, where His name is called.

And they carried the ark of God on a new cart from the house of Abinadab, and Uzza and Ahio drove the cart.