Does not Scripture say that the Messiah will come from David’s descendants and from Bethlehem, the town where David lived?”
(John 7:42)

I've been doing a brief study of the life of David, which has been very interesting.  David, just like all of us, made many mistakes, and some were extremely sinful and displeasing to God.  Thanks to the grace and forgiveness of God, partnered with David's sincere and heartfelt repentance, the lineage of Jesus remained intact and completed God's plan.