David, the son of Jesse, from the tribe of Judah, replaced King Saul as king over Israel. According to the Bible, Saul was rejected by God because of his disobedience, and David was chosen as his successor. David's story is central in the books of 1 Samuel and 2 Samuel.

1 Samuel 16:13 (RSV):
"Then Samuel took the horn of oil, and anointed him in the midst of his brothers; and the Spirit of the Lord came mightily upon David from that day forward. And Samuel rose up and went to Ramah."

David was not only a warrior but also a man after God’s own heart, which made him the rightful successor to Saul.