Did David sin?

Did David sin?
David sinned in numbering the people.	David never sinned, except in the matter of Uriah.
2 Samuel 24:10 And David's heart smote him after that he had numbered the people. And David said unto the Lord, I have sinned greatly in that I have done.	1 Kings 15:5 David did that which was right in the eyes of the Lord, and turned not aside from anything that he commanded him all the days of his life, save only in the matter of Uriah the Hittite.