1 Chronicles 13:6-10

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.

David and all Israel were celebrating before God with all their might, with songs and with lyres, harps, tambourines, cymbals, and trumpets.

When they came to the threshing floor of Chidon, Uzza put out his hand to hold the ark, because the oxen nearly overturned it.

But the anger of the Lord burned against Uzza, so He struck him because he had put out his hand toward the ark; and he died there before God.