Numbers 22:20-23

²⁰God therefore came to Balaam in the night, and said to him: It these men be come to call thee, arise and go with them: yet so, that thou do what I shall command thee.

²¹Balaam arose in the morning, and saddling his ass went with them.

²²And God was angry. And an angel of the Lord stood in the way against Balaam, who sat on the ass, and had two servants with him.

²³The ass seeing the angel standing in the way, with a drawn sword, turned herself out of the way, and went into the field. And when Balaam beat her, and had a mind to bring her again to the way,