1 Chronicles 13:6-10

6And David and all Israel went up to Baalah, to Kirjath Jearim, which belonged to Judah, to bring up from there the ark of God the Lord, who dwells between the cherubim, where His name is proclaimed.

7So they carried the ark of God on a new cart from the house of Abinadab, and Uzza and Ahio drove the cart.

8Then David and all Israel played music before God with all their might, with singing, on harps, on stringed instruments, on tambourines, on cymbals, and with trumpets.

9And when they came to Chidon’s threshing floor, Uzza put out his hand to hold the ark, for the oxen stumbled.

10Then the anger of the Lord was aroused against Uzza, and He struck him because he put his hand to the ark; and he died there before God.