1 Chronicles 13:6-10

And David went up, and all Israel, to Baalah, that is, to Kirjath-jearim, which belonged to Judah, to bring up thence the ark of God the LORD, that dwelleth between the cherubims, whose name is called on it.

And they carried the ark of God in a new cart out of the house of Abinadab: and Uzza and Ahio drave the cart.

And David and all Israel played before God with all their might, and with singing, and with harps, and with psalteries, and with timbrels, and with cymbals, and with trumpets.

And when they came unto the threshingfloor of Chidon, Uzza put forth his hand to hold the ark; for the oxen stumbled.

And the anger of the LORD was kindled against Uzza, and he smote him, because he put his hand to the ark: and there he died before God.