R. C. Sproul in his session on Saturday titled A Consuming Fire: Holiness, Wrath and Justice was talking about Uzzah.
2 Sam 6:1-10
1 David again gathered all the chosen men of Israel, thirty thousand.
2 And David arose and went with all the people who were with him from Baale-judah to bring up from there the ark of God, which is called by the name of the Lord of hosts who sits enthroned on the cherubim.
3 And they carried the ark of God on a new cart and brought it out of the house of Abinadab, which was on the hill. And Uzzah and Ahio, the sons of Abinadab, were driving the new cart,
4 with the ark of God, and Ahio went before the ark.
5 And David and all the house of Israel were making merry before the Lord, with songs and lyres and harps and tambourines and castanets and cymbals.
6 And when they came to the threshing floor of Nacon, Uzzah put out his hand to the ark of God and took hold of it, for the oxen stumbled.
7 And the anger of the Lord was kindled against Uzzah, and God struck him down there because of his error, and he died there beside the ark of God.
8 And David was angry because the Lord had burst forth against Uzzah. And that place is called Perez-uzzah, to this day.
9 And David was afraid of the Lord that day, and he said, “How can the ark of the Lord come to me?”
10 So David was not willing to take the ark of the Lord into the city of David. But David took it aside to the house of Obed-edom the Gittite. ESV
Sproul discussed how this story if ever mentioned is explained away and very few want to look at it seriously.
Sproul’s explanation was the best I’ve heard:
Uzzah assumed that contact with the mud would be worse than contact with his hand.
How can mud and dirt be worse than the hands of a sinful, depraved man?
Mud is cleaner and holier than we are!