Uzzah tries to keep the ark steady because the oxen shook it. For this, God smites him. From ldsseminary
2 Samuel, Chapter 6 - This is kind of a weird chapter. It starts off with David gathering 30,000 Israelites and marching off with the Ark of the Covenant. The ark was in a brand new cart and was driven by two individuals, Uzzah and Ahio.
At a particular part of the road, known as Nachon's Threshingfloor, the ark began to shake because of the oxen. Uzzah tries to steady the ark so it doesn't fall and ZAP! God kills him. It says God killed Uzzah "for his error". I guess the error may have been the placement of his hands?
King David started to fear the Ark of the Covenant, and didn't want to bring it into his city. Instead, he left it at some guy named Obededom the Gittite. Obededom actually capitalized off this, because in the three months that Obededom possessed the Ark, God blessed him and his family.
After hearing that Obededom was being blessed, David sent for the Ark to enter into the city of David. To honor the entrance of the ark, David sacrificed "oxen and fatlings". Fatlings!!! I had to look that up in the dictionary. A fatling is a young animal that was fattened for slaughter, perhaps similar to veal?
What happens next is even more bizarre. Apparently, as the Ark is being brought into the city, David was dancing and I think his junk must have been hanging out! Michal, the daughter of the previous King Saul, looked out the window and saw him. Later, when she met David, she said, "How glorious was the king of Israel today, who uncovered himself today in the eyes of the handmaids of his servants, as one of the vain fellows shamelessly uncovers himself!"
David replies with what seems like a taunt, "God chose me before your father, and before all his house, to appoint me over all the people, over Israel, so I will dance and play before the Lord."
His last retort before the end of the chapter, "I will be more vile than this, and will be base in mine own sight: and of the maidservants which thou has spoken of, I will have them in honor."
And then, for no apparent reason, the chapter ends like this: Therefore, Michal the daughter of Saul had no child until the day of her death.