1 Chronicles 13:4-9

The whole assembly agreed to this, for the people could see it was the right thing to do. So David summoned all Israel, from the Shihor Brook of Egypt in the south all the way to the town of Lebo-hamath in the north, to join in bringing the Ark of God from Kiriath-jearim. Then David and all Israel went to Baalah of Judah (also called Kiriath-jearim) to bring back the Ark of God, which bears the name of the LORD who is enthroned between the cherubim. They placed the Ark of God on a new cart and brought it from Abinadab’s house. Uzzah and Ahio were guiding the cart. David and all Israel were celebrating before God with all their might, singing songs and playing all kinds of musical instruments—lyres, harps, tambourines, cymbals, and trumpets. But when they arrived at the threshing floor of Nacon, the oxen stumbled, and Uzzah reached out his hand to steady the Ark.