1 Chronicles 13:4-9

Then all the assembly said that they would do so, for the thing was right in the eyes of all the people. So David assembled all Israel together, from the Shihor of Egypt even to the entrance of Hamath, to bring the ark of God from Kiriath-jearim. David and all Israel went up to Baalah, that is, to Kiriath-jearim, which belongs to Judah, to bring up from there the ark of God, the LORD who is enthroned above the cherubim, where His name is called. They carried the ark of God on a new cart from the house of Abinadab, and Uzza and Ahio drove the cart. David and all Israel were celebrating before God with all their might, even with songs and with lyres, harps, tambourines, cymbals and with trumpets. When they came to the threshing floor of Chidon, Uzza put out his hand to hold the ark, because the oxen nearly upset it.