וַיָּבֹ֖אוּ עַד־גֹּ֣רֶן כִּידֹ֑ן וַיִּשְׁלַ֨ח עֻזָּ֜א אֶת־יָד֗וֹ לֶאֱחֹז֙ אֶת־הָ֣אָר֔וֹן כִּ֥י שָֽׁמְט֖וּ הַבָּקָֽר׃
And when they came unto the threshing-floor of Chidon, Uzza put forth his hand to hold the ark; for the oxen stumbled.
Read midrashic interpretation of I Chronicles 13:9: and classical rabbinic exegesis.