Numbers 22:20-23

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

²¹Balaam got up in the morning, saddled his donkey, and went with the leaders of Moab.

²²But because he went, God's anger was kindled. The angel of Yahweh placed himself in the road as someone hostile to Balaam, who was riding on his donkey. Balaam's two servants were also with him.

²³The donkey saw the angel of Yahweh standing in the road with his drawn sword in his hand. The donkey turned off the road and went into a field. Balaam struck the donkey to turn her back to the road.