2 Samuel 6:3-8

3And they set the ark of 1God upon a new cart, and brought it out of the house of Abinadab, which was upon the hill; and Uzzah and Ahio, the sons of Abinadab, drove the new cart.

4And they brought it with the ark of 2God out of the house of Abinadab which was upon the hill; and Ahio went before the ark.

5And David and all the house of Israel played before Jehovah on all manner of [instruments made of] cypress wood, with harps, and with lutes, and with tambours, and with sistra, and with cymbals.

6And when they came to Nachon's threshing-floor, Uzzah reached after the ark of 3God, and took hold of it; for the oxen had stumbled.

7And the anger of Jehovah was kindled against Uzzah; and 4God smote him there for his error; and there he died by the ark of 5God.

8And David was indignant, because Jehovah had made a breach upon Uzzah; and he called that place Perez-Uzzah to this day.