1 Kings 9:4 “As for you, if you walk before me faithfully with integrity of heart and uprightness, as David your father did, and do all I command and observe my decrees and laws, 
Interestingly, after David slept with the wife of one of his friends and sent him off to be slaughtered in war, God still says he has integrity and an upright heart. Such is the power of forgiveness when we repent and walk in His ways.