MSB(i)
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.