2 Samuel 6:1 - 23
ESV - 1 David again gathered all the chosen men of Israel, thirty thousand. 2 And David arose and went with all the people who were with him from Baale-judah to bring up from there the ark of God, which is called by the name of the Lord of hosts who sits enthroned on the cherubim.
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The Bible describes David as a man after God's own heart (1 Samuel 13:14). He was still human (that is, sinful), and committed at least two actions for which God judged him (2 Samuel 11-12; 2 Samuel 24). Nevertheless, he repented and accepted God's judgment, and did not rebel against Him because of it. There are also multiple references in Israel's subsequent history (for instance, 1 Kings 11:26-40; 1 Kings 15:1-5; and 2 Kings 8:16-19) to God sparing Israel from deserved punishment "for David's sake". On that basis, I would say that David (although he did sin) was a good king who was generally devoted to God, and who provided a role model for the subsequent kings of Israel to follow (although few of them did).
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