They set it on a new cart and two men named Uzzah and Ahio drove it out of the House of Abinadab there and took it to The House of Abinadab in Gibeah. Ahio went before the Ark, while David and the people celebrated with loud music played by an array of different musical instruments. David, himself was a musician who wrote many of the Psalms. That day, he danced naked in the streets.
Something startled one of the oxen that were pulling it, and Uzzah put his hand on it to steady it. Uzzah was immediately struck dead by God. This did not make David happy. He called the place Perezuzzah for that, and he was afraid to move the Ark to the City of David in Jerusalem because of it. Instead, he carried it to the House of Obededum. It wasn't until God blessed the House of Obededum for about three months that David gladly brought the Ark to Jerusalem.
David made a tabernacle there where he placed the Ark. Then he offered burnt offerings and peace offerings to God, and he blessed all the people there. Then he gave each man and each woman a piece of bread, a piece of meat, and a some wine and sent them all home.
When he went home to bless his household, his wife, Michal, was very sarcastic with him about dancing naked and making a fool of himself in front of the whole nation of Israel. He chastised her, saying, "What I did, I did to honor God. And, if you find me too embarrassing to be with because of it, I'm sure any of your maidservants would find it an honor to be with me." He never had sexual relations with her again.
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The lesson I got out of this is to each his own. Everyone has their own way of glorifying and worshipping God. Just because you think wearing pretty clothes to church honors God doesn't mean it does for someone else. Some people like to go barefoot to church because, to them, it is holy ground.
Also, rules are rules. If you touch God the wrong way, you can expect His destructive temper to break forth.
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