It's All Good

For I have kept the ways of the Lord, and have not wickedly departed from my God. For all His judgments were before me; and as for His statutes, I did not depart from them. I was also upright before Him, and have kept myself from mine iniquity.
2 Samuel 22:22-24

His (David) conscience witnessed for him; (1) That he had made the word of God his rule, and had kept to it. Wherever he was, God's judgments were before him as his guide; wherever he went, he took his religion along with him; and though he was forced to depart from his country, and sent, as it were, to serve other gods, yet as for God's statues, he did not depart from them, but kept the way of the Lord and walked in it.

(2) That he carefully avoided the bye-paths of sin. He had not wickedly departed from his God. He could not say but that he had taken some false steps, but he had not deserted God, nor forsaken his way. Though he had sometimes weakly departed from his duty, he had never wickedly departed from his God. (Matthew Henry)

The second part of this is very encouraging to me; although David had taken some false steps, his heart was not wicked and eventually led him back to God. When David experienced sin within his life; it always followed when he was not in communion with God. The sin with Bathsheba occurred during a time when David didn't follow his normal routine, he became lax and let his guard down. God's grace covers if our hearts are true to Him.