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Because man is born in sin since Adam, he could not come in contact with God (the ark represented God on earth) until the advent of Christ. In the same way the woman was not allowed to touch Jesus at the tomb until He ascended. She was unclean and Jesus had not yet been glorified until He returned to heaven. Now, we can speak to God/Jesus directly because He made the way for us to do so. He rent the curtain between us and God so that we can approach Him and He loves us when we do and are obedient.
As S. Michael Houdmann has already said, God had given particular instructions through Moses how the tabernacle was to be erected, dismantled, and moved (Numbers 4), and the main pieces of furniture were to be carried on the shoulders of the Levites who were descended from Kohath (Num. 4:9-20). However, when Uzza, David, and company used a new cart drawn by oxen, they were following the pattern of the pagan Philistines (1 Sam. 6), not the pattern given to Moses on Mount Sinai. “God's work done in God's way will never lack God's supply.” Hudson Taylor Doing God’s work God’s way brings God’s blessing. God’s work must be done in God’s way or there will be consequences. God had warned about taking hold of the ark to steady it (or at least about touching it) in the law of Moses, and every Israelite knew it (Num. 1:51; 4:15, 20).
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