2 Samuel 6:2-6

2He and all his men went to Baalah in Judah to bring up from there the ark of God, which is called by the Name, the name of the Lord Almighty, who is enthroned between the cherubim on the ark. 3They set the ark of God on a new cart and brought it from the house of Abinadab, which was on the hill. Uzzah and Ahio, sons of Abinadab, were guiding the new cart 4with the ark of God on it, and Ahio was walking in front of it. 5David and all Israel were celebrating with all their might before the Lord, with castanets, harps, lyres, timbrels, sistrums and cymbals. 6When they came to the threshing floor of Nakon, Uzzah reached out and took hold of the ark of God, because the oxen stumbled.