1 Chronicles 13:4-9

All the assembly agreed to do so, for the thing was right in the eyes of all the people. So David assembled all Israel from the Nile of Egypt to Lebo-hamath, to bring the ark of God from Kiriath-jearim. And David and all Israel went up to Baalah, that is, to Kiriath-jearim that belongs to Judah, to bring up from there the ark of God, which is called by the name of the LORD who sits enthroned above the cherubim. And they carried the ark of God on a new cart, from the house of Abinadab, and Uzzah and Ahio were driving the cart. And David and all Israel were celebrating before God with all their might, with song and lyres and harps and tambourines and cymbals and trumpets. And when they came to the threshing floor of Chidon, Uzzah put out his hand to take hold of the ark, for the oxen stumbled.