וַיָּבֹ֖אוּ עַד־גֹּ֣רֶן נָכ֑וֹן וַיִּשְׁלַ֨ח עֻזָּ֜א אֶל־אֲר֤וֹן הָֽאֱלֹהִים֙ וַיֹּ֣אחֶז בּ֔וֹ כִּ֥י שָׁמְט֖וּ הַבָּקָֽר׃
And when they came to the threshing-floor of Nacon, Uzzah put forth his hand to the ark of God, and took hold of it; for the oxen stumbled.
Read halakhic rulings (Jewish law) on II Samuel 6:6 from the Mishneh Torah and classical halakhic sources, free online.