2 Samuel 6:2-11

²And David arose and went with all the people who were with him from Ba'ale-judah, to bring up from there the ark of God, which is called by the name of the LORD of hosts who sits enthroned on the cherubim. ³And they carried the ark of God upon a new cart, and brought it out of the house of Abin'adab which was on the hill; and Uzzah and Ahi'o, the sons of Abin'adab, were driving the new cart ⁴with the ark of God; and Ahi'o went before the ark. ⁵And David and all the house of Israel were making merry before the LORD with all their might, with songs and lyres and harps and tambourines and castanets and cymbals.

⁶And when they came to the threshing floor of Nacon, Uzzah put out his hand to the ark of God and took hold of it, for the oxen stumbled. ⁷And the anger of the LORD was kindled against Uzzah; and God smote him there because he put forth his hand to the ark; and he died there beside the ark of God. ⁸And David was angry because the LORD had broken forth upon Uzzah; and that place is called Pe'rez-uz'zah, to this day. ⁹And David was afraid of the LORD that day; and he said, "How can the ark of the LORD come to me?" ¹⁰So David was not willing to take the ark of the LORD into the city of David; but David took it aside to the house of O'bed-e'dom the Gittite. ¹¹And the ark of the LORD remained in the house of O'bed-e'dom the Gittite three months; and the LORD blessed O'bed-e'dom and all his household.