2 Samuel 6:4
And they brought it out of the house of Abinadab which was at Gibeah, accompanying the ark of God: and Ahio went before the ark. And they brought it out of the house of Abinadab which was at Gibeah, accompanying the ark of God: and Ahio went before the ark.
The verse stands at the beginning of David's undertaking to remove the ark from the house of Abinadab where it had remained and to bring it to Jerusalem, to his own city. Uzzah and Ahio, the sons of Abinadab, drove the new cart that carried the ark, with Ahio going before the ark. David and all Israel went with it in a public procession, celebrating before the Lord as they accompanied the ark of God.
Placing the ark on a cart ended in judgment when the oxen stumbled and Uzzah reached out to steady it and touched the ark, and he died for that touch. His reaching out revealed distrust of God, presumption toward what was sacred, and careless handling in disregard of God's instructions. The ark was holy because it contained God's law, and for that reason it was not to be handled in disregard of what God had commanded.