Moving the Ark

1 Chronicles 13v1-3, 7, 9-10(BSB)
Then David conferred with all his leaders, the commanders of hundreds and of thousands.  And he said to the whole assembly of Israel, “If it seems good to you, and if this is of the LORD our God, let us send word far and wide to the rest of our brothers in all the land of Israel, and also to the priests and Levites in their cities and pasturelands, so that they may join us. Then let us bring back the ark of our God, for we did not inquire of Him in the days of Saul.”
So they carried the ark of God from the house of Abinadab on a new cart, with Uzzah and Ahio guiding the cart. 
When they came to the threshing floor of Chidon, Uzzah reached out and took hold of the ark, because the oxen had stumbled.  And the anger of the LORD burned against Uzzah, and He struck him down because he had put his hand on the ark.  So he died there before God.

When, after long disuse, ordinances come to be revived, it is too common for even wise and good men to make some mistakes.  Who would have thought that David would commit such an error as this, to carry the ark upon a cart?  Because the Philistines so carried it and a special providence drove the cart (1 Samuel 6:12), he thought they might do so too.  But we must walk by rule, not by example, when it varies from the rule—no, not even by those examples which providence has owned.

Matthew Henry, Commentary on the Whole Bible

1 Chronicles 15v1-2, 11-13 (BSB)
David constructed buildings for himself in the City of David, and he prepared a place for the ark of God and pitched a tent for it.  Then David said, “No one but the Levites may carry the ark of God, because the LORD has chosen them to carry the ark of the LORD and to minister before Him forever.”  David summoned the priests Zadok and Abiathar and the Levites Uriel, Asaiah, Joel, Shemaiah, Eliel, and Amminadab.  And he said to them, “You are the heads of the Levitical families.  You and your relatives must consecrate yourselves so that you may bring the ark of the LORD, the God of Israel, to the place I have prepared for it.  It was because you Levites were not with us the first time that the LORD our God burst forth in anger against us.  For we did not consult Him about the proper order.”

The good king does not wholly excuse himself; he puts himself into the number of the faulty.  It was his duty as well as theirs to look into the law and pray unto God for his direction.  But there were four faults committed.  First, the ark was put into a cart when it should have been carried on the shoulders of the Levites.  Secondly, the Levites were not permitted to touch the ark, yet Uzzah did touch it.  Thirdly, Uzzah was not so much as a Levite, and therefore he yet more grievously offended.  Fourthly, he lacked the faith of the care which he might believe God himself would please to take of his ark.

Cotton Mather, Biblia Americana: America’s First Bible Commentary

(BSB Berean Study Bible)