Numbers 22:23

22:23 And the donkey saw the angel of the Lord standing in the road with his sword drawn in his hand, so the donkey turned aside from the road and went into the field. But Balaam beat the donkey, to make her turn back to the road.

Numbers 31:8

31:8 They killed the kings of Midian in addition to those slain – Evi, Rekem, Zur, Hur, and Reba – five Midianite kings. They also killed Balaam son of Beor with the sword.