Psalm 78:72 (NIV)
And David shepherded them with integrity of heart; with skillful hands he led them.
King David had a whole heart for God. Yes, he faltered and sinned terribly in the situation with Bathsheba. But he sincerely repented of that and received God's forgiveness. David was weak in the flesh as we all are. But when it came to his relationship with God, David was clearly devoted to and in love with his Lord. That is my heart's desire that I might be like David, having a heart completely dependent upon and devoted to God.