Second Samuel 24:10-17

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2 Samuel 24:10-17: And David’s heart condemned him after he had numbered the people. So David said to the Lord, “I have sinned greatly in what I have done; but now, I pray, O Lord, take away the iniquity of Your servant, for I have done very foolishly.” […] Then David spoke to the Lord when he saw the angel who was striking the people, and said, “Surely I have sinned, and I have done wickedly; but these sheep, what have they done? Let Your hand, I pray, be against me and against my father’s house.”

1 Kings 15:5: because David did what was right in the eyes of the Lord, and had not turned aside from anything that He commanded him all the days of his life, except in the matter of Uriah the Hittite.

Second Samuel says that David sinned in taking the census, but First Kings says that David's only sin was in the matter of Uriah.

First Kings could just be referring to David's obeying God's direct commandments. (except of course in the one matter it mentions)

So perhaps David's sin with regards to the census wasn't considered by the author to be a situation in which David 'turned aside from something that God commanded Him', in that God didn't give him a direct commandment to the contrary.

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