1 Chronicles 13

David decides to bring the Ark of the Covenant back to Jerusalem from the house of Abinadab. He gathers a large company to retrieve it. They place the Ark on a cart, but when the oxen stumble, Uzzah reaches out to steady the Ark and is struck dead by God for touching it. David is angered and afraid, halting the procession and leaving the Ark at the house of Obed-Edom the Gittite. God blesses Obed-Edom’s household greatly, prompting David to recognize his error in not following the proper ceremonial laws for transporting the Ark.