David committed adultery.
Nathan, the prophet, confronted David with his sin.
David sin but he would pray and fast and ask God to for give him for he know he has done wrong.
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The story of David and Bathsheba.
he commited adultery wid his official's wife
Yes, David was king when he wrote Psalms 86. David of ancient Israel had committed a serious sin, he was repentant and confidently prayed to God.
David was a man after God's own heart and, despite his sin, showed a willingness to repent which Saul did not.
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Psalm 52 is one attributed to David after Nathan confronted him with his sin. This is cited in the Tyndale study bible."Wash away all my iniquity and cleanse me from my sin. For I know my transgressions, and my sin is always before me." Psalm 52:2-3Psalm 32 may also apply to that situation:"When I refused to confess my sin, my body wasted away, and I groaned all day long." Psalm 32:3
adultery with Bathsheba and then setting up the murder of her husband to cover it up
It was mainly David , because he was confessing his sin to god after commiting adultery.
He admonishes David in 2 Samuel 12:9-14. "Wherefore hast thou despised the commandment of the Lord, to do evil in his sight..." David admits his sin, and Nathan tells him that his sin has been put away, but, because David's deeds gave great occasion to the enemies of the Lord to blaspheme, Nathan tells David that the child that is born to him shall surely die.