1 Chronicles 13:7

3 Then let us bring back the ark of our God, for we did not inquire of Him in the days of Saul.”

4 And because this proposal seemed right to all the people, the whole assembly agreed to it.

5 So David assembled all Israel, from the River Shihor in Egypt to Lebo-hamath, to bring the ark of God from Kiriath-jearim.

6 David and all Israel went up to Baalah of Judah (that is, Kiriath-jearim) to bring up from there the ark of God the LORD, who is enthroned between the cherubim—the ark that is called by the Name.

7 So they carried the ark of God from the house of Abinadab on a new cart, with Uzzah and Ahio guiding the cart.

8 David and all the Israelites were celebrating before God with all their might, with songs and on harps and lyres, with tambourines, cymbals, and trumpets.

9 When they came to the threshing floor of Chidon, Uzzah reached out and took hold of the ark, because the oxen had stumbled.

10 And the anger of the LORD burned against Uzzah, and He struck him down because he had put his hand on the ark. So he died there before God.

11 Then David became angry because the LORD had burst forth against Uzzah; so he named that place Perez-uzzah, as it is called to this day.

Read all of 1 Chronicles 13