1 Chronicles 13:7-10

7So they carried the ark of God from the house of Abinadab on a new cart, with Uzzah and Ahio guiding the cart.

8David and all the Israelites were celebrating before God with all their might, with songs and on harps and lyres, with tambourines, cymbals, and trumpets.

9When they came to the threshing floor of Chidon,1 Uzzah reached out and took hold of the ark, because the oxen had stumbled. 10And the anger of the LORD burned against Uzzah, and He struck him down because he had put his hand on the ark. So he died there before God.