2 Samuel 6:3-6

3They placed the ark of God on a new cart and brought it out of the house of Abinadab, which was on the hill; and Uzzah and Ahio, sons of Abinadab, were leading the new cart.

4So they brought it with the ark of God from the house of Abinadab, which was on the hill; and Ahio was walking in front of the ark.

5Meanwhile, David and all the house of Israel were celebrating and dancing before the Lord with all kinds of instruments made of fir or cypress wood, with lyres, harps, tambourines, castanets, and cymbals.

6When they came to Nacon’s threshing floor, Uzzah reached out [with his hand] to the ark of God and took hold of it, because the oxen [stumbled and] nearly overturned it.