On May 21, 2019 at 03:02:29 UTC Advanced LIGO and Advanced Virgo observed a short duration gravitational-wave signal, GW190521, with a three-detector network signal-to-noise ratio of 14.7, and an estimated false-alarm rate of 1 in 4900 yr using a search sensitive to generic transients. If GW190521 is from a quasicircular binary inspiral, then the detected signal is consistent with the merger of two black holes with masses of 85<sup>+21</sup><sub>−14</sub> <i>M</i>⊙ and 66<sup>+17</sup><sub>−18</sub> <i>M</i>⊙ (90% credible intervals). We infer that the primary black hole mass lies within the gap produced by (pulsational) pair-instability supernova processes, with only a 0.32% probability of being below 65 <i>M</i>⊙. We calculate the mass of the remnant to be 142<sup>+28</sup><sub>−16</sub> <i>M</i>⊙, which can be considered an intermediate mass black hole (IMBH). The luminosity distance of the source is 5.3<sup>+2.4</sup><sub>−2.6</sub> Gpc, corresponding to a redshift of 0.82<sup>+0.28</sup><sub>−0.34</sub>. The inferred rate of mergers similar to GW190521 is 0.13<sup>+0.30</sup><sub>0.11</sub> Gpc<sup>−3</sup>yr<sup>−1</sup>.