DID DAVID SIN WHEN HE ORDERED THE CENSUS?

II 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: and now, I beseech thee, O LORD, take away the iniquity of thy servant; for I have done very foolishly. (KJV) I Kings 15:5  Because David did that which was right in the eyes of the LORD, and turned not aside from any thing that he commanded him all the days of his life, save only in the matter of Uriah the Hittite. (KJV)

The 1 Kings passage is saying that every time God commanded David to do something, he did it, except for in the matter of Uriah.  This does not mean that David didn't commit other sins.  Ordering the census was certainly a sin, but it was not in conflict with any commandment God had directly given him.  Not a contradiction.