2 Samuel 6:3-7

ISV(i) 3 They mounted the Ark of God on a new cart and brought it from Abinadab’s home in Gibeah, with Abinadab’s sons Uzzah and Ahio driving the new cart. 4 As they left Abinadab’s house in Gibeah accompanied by the Ark of God, Ahio was walking ahead of the ark. 5 David and the entire assembly of Israel were dancing in the presence of the LORD with all of their strength, accompanied by all sorts of wood instruments, harps, tambourines, castanets, and cymbals.
6 When they arrived at Nacon’s threshing floor, Uzzah reached out and grabbed the Ark of God because the oxen had stumbled. 7 Just then, the anger of the LORD blazed against Uzzah, and God struck him down right there because of his failure, and he died there beside the Ark of God.