Numbers 22:22-23

22But the anger of God burned because he was going. The angel of Adonai stood in the road to oppose him—he was riding on his donkey and two of his servants were with him—

23when the donkey saw the angel of Adonai standing in the road with his drawn sword in his hand, the donkey turned off the road and went into the field. So Balaam beat the donkey to get her back onto the road.