2 Samuel 6:1-8 New Revised Standard Version (NRSV)
David Brings the Ark to Jerusalem
6 David again gathered all the chosen men of Israel, thirty thousand. 2 David and all the people with him set out and went from Baale-judah, to bring up from there the ark of God, which is called by the name of the Lord of hosts who is enthroned on the cherubim. 3 They carried the ark of God on a new cart, and brought it out of the house of Abinadab, which was on the hill. Uzzah and Ahio,[a] the sons of Abinadab, were driving the new cart 4 with the ark of God;[b] and Ahio[c] went in front of the ark. 5 David and all the house of Israel were dancing before the Lord with all their might, with songs[d] 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;[e] 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,[f] to this day.