וַיִּֽחַר־אַ֤ף יְהוָה֙ בְּעֻזָּ֔א וַיַּכֵּ֕הוּ עַ֛ל אֲשֶׁר־שָׁלַ֥ח יָד֖וֹ עַל־הָאָר֑וֹן וַיָּ֥מָת שָׁ֖ם לִפְנֵ֥י אֱלֹהִֽים׃
And the anger of the LORD was kindled against Uzza, and He smote him, because he put forth his hand to the ark; and there he died before God.
Read midrashic interpretation of I Chronicles 13:10: and classical rabbinic exegesis.