אָ֚ז אָמַ֣ר דָּוִ֔יד לֹ֤א לָשֵׂאת֙ אֶת־אֲר֣וֹן הָֽאֱלֹהִ֔ים כִּ֖י אִם־הַלְוִיִּ֑ם כִּי־בָ֣ם ׀ בָּחַ֣ר יְהוָ֗ה לָשֵׂ֞את אֶת־אֲר֧וֹן יְהוָ֛ה וּֽלְשָׁרְת֖וֹ עַד־עוֹלָֽם׃ (ס)
Then David said: ‘None ought to carry the ark of God but the Levites; for them hath the LORD chosen to carry the ark of the LORD, and to minister unto Him for ever.’
Read halakhic rulings (Jewish law) on I Chronicles 15:2: and classical halakhic sources.