Numbers 22:20-23

²⁰Therefore the Lord came to Balaam in that night, and said to him, If these men come to call thee, rise thou, and go with them, so only that thou do that that I shall command to thee.

²¹Balaam rose early, and when his she-ass was saddled, he went forth with them.

²²And God was wroth with Balaam. And the angel of the Lord stood in the way against Balaam, that sat upon the she-ass, and had two servants with him.

²³The she-ass saw the angel standing in the way, with sword drawn, and the ass turned herself from the way, and went by the field. And when Balaam beat her, and would lead her again to the path,