Purest intention VS Doing it right

In 2 Samuel 6:1-8, King David tried to bring the ark of God (the presence of God) back to Jerusalem. He did not learn the correct way of doing it, so he asked the people to put the ark on a cart behind 2 oxen. When the oxen stumbled, Uzzah tried to prevent the ark from falling. The moment Uzzah touched the ark, the Lord struck him dead (as the penalty for touching the ark is death - Numbers 4:15-20).

Both King David and Uzzah's intention was good. The problem was they did it the wrong way.

Sometimes with the purest intention, we failed in the things that we do.
Look back at the things that have gone wrong despite our good intentions.
In our career, in our relationship, in how we manage our finances.
Have we done it in the wrong way?