2 Samuel 6:5-8New Revised Standard Version (NRSV)
5 David and all the house of Israel were dancing before the Lord with all their might, with songs[a] and lyres and harps and tambourines and castanets and cymbals.
6 When they came to the threshing floor of Nacon, Uzzah reached out his hand to the ark of God and took hold of it, for the oxen shook it. 7 The anger of the Lord was kindled against Uzzah; and God struck him there because he reached out his hand to the ark;[b] and he died there beside the ark of God. 8 David was angry because the Lord had burst forth with an outburst upon Uzzah; so that place is called Perez-uzzah,[c] to this day.