Is Your House Right with God?

In King David’s household, we see rape, murder, treason, deception, jealousy, hate, lack of accountability, lack of repentance, and a complete disregard for God and His Word. Considering that, how can David possibly say at the end of his life in 2 Samuel 23:5, that his house is right with God? And what implications does David's bold statement have for us?