King David lusted after a woman. Slept with her. Had her husband killed. And mourned, and pleaded with go's for forgiveness.
God Loved him still.
David then went against God's will when God tols him not to give a census to his men.
Even after these things, God called him "a man after my own heart."
Its all about the sincerity of our heart, my Bruddha.
Blessings to All Anon.