2 Samuel 6:3-7

They had mounted the ark of God on a new cart and moved it from the house of Abinadab, which was on the hill; and Uzzah and Ahio, the sons of Abinadab, were leading the new cart.

So they brought it with the ark of God from the house of Abinadab, which was on the hill; and Ahio was walking ahead of the ark.

Meanwhile, David and all the house of Israel were celebrating before the Lord with all kinds of instruments made of juniper wood, and with lyres, harps, tambourines, castanets, and cymbals.

But when they came to the threshing floor of Nacon, Uzzah reached out toward the ark of God and took hold of it, because the oxen nearly overturned it.

And the anger of the Lord burned against Uzzah, and God struck him down there for his irreverence; and he died there by the ark of God.