Numbers 22:20-23

²⁰God came to Balaam during the night and told him, “Since these men have come for you, get up and go with them. But only do what I tell you.”

²¹In the morning Balaam got up, put a saddle on his donkey, and left with the Moabite leaders.

²²God's got angry because Balaam had decided to go. The angel of the Lord came and stood in the road to confront him. Balaam was riding on his donkey, and he was accompanied by his two servants.

²³The donkey saw the angel of the Lord standing in the road holding a drawn sword, so it turned from the road and went into a field. So Balaam beat it to make it go back to the road.