David, Abraham, Sarah and Peter had hearts for God; but they often sinned and strayed from God's way. Each time they found themselves in sin, they leaned into God. He wrapped them in His loving arms. We are no different than David, Abraham, Sarah or Peter. When we find ourselves sinning - even though our hearts still belong to the Lord - there are three things that we must do. The first is to make sure our hearts are clean. We must not re-define sin as an acceptable act. When we discern that we are in a sinful situation, we must not hide from the Lord but rather fall on God's mercy. And the third thing that we must do is be sure that what we treasure is good. Our future depends on it.
We need to have the confidence to cry out to the Lord in our frailty and sinfulness, and ask Him to seek for us as we stumble. Listen to the lessons of the Bible as God shows us how so many of His children stumbled but still had a heart for Him.