2 Samuel 6:3-6

3So they loaded the ark of God on a new cart and carried it out of the house of Abinadab that was on the hill. Uzzah and Ahio, Abinadab’s sons, drove the new cart

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

5Meanwhile David and the whole house of Israel were celebrating before Adonai with all kinds of instruments made of cypress wood, with harps, lyres, tambourines, three-stringed instruments and cymbals.

6But when they reached the threshing floor of Nahon, Uzzah reached out to the ark of God and grasped it, for the oxen had stumbled.