Numbers 22:20-23

²⁰Then God came to Balaam at night, and said to him, If the men have come to call thee, rise up, and go with them; but only what I shall say unto thee shalt thou do.

²¹And Balaam rose up in the morning, and saddled his ass, and went with the princes of Moab.

²²And God's anger was kindled because he went; and the Angel of Jehovah set himself in the way to withstand him. Now he was riding upon his ass, and his two young men were with him.

²³And the ass saw the Angel of Jehovah standing in the way, and his sword drawn in his hand; and the ass turned aside out of the way, and went into the field, and Balaam smote the ass to turn her into the way.