2 Samuel 6:6-8

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.

7And the anger of the Lord burned against Uzzah, and God struck him there for his irreverence; and he died there by the ark of God.

8David became angry and grieved and offended because of the Lord’s outburst against Uzzah, and that place has been called Perez-uzzah (outburst against Uzzah) to this day.