In 1 Samuel 13:14 we read of a David
But now your kingdom shall not endure. The Lord has sought for Himself a man after His own heart, and the Lord has appointed him ruler over His people, because you have not kept what the Lord commanded you.”
However, sometimes we see David allowing sin to prevail in his body (2 Samuel 11). So, in a way I can see us in him.
The difference is that while we await the glorified body, the indwelling Spirit of God not only redeems us, but also enables us to live free from the bondage of sin (Romans 6:8-11)
8 Now if we have died with Christ, we believe that we shall also live with Him, 9 knowing that Christ, having been raised from the dead, is never to die again; death no longer is master over Him. 10 For the death that He died, He died to sin once for all time; but the life that He lives, He lives to God. 11 So you too, consider yourselves to be dead to sin, but alive to God in Christ Jesus.
It's clear from Romans 6:12-13 that we now have have a choice (serve sin or serve God)...
12 Therefore sin is not to reign in your mortal body so that you obey its lusts, 13 and do not go on presenting the parts of your body to sin as instruments of unrighteousness; but present yourselves to God as those who are alive from the dead, and your body’s parts as instruments of righteousness for God.
... but did David have a choice too? (Romans 6:17)
But thanks be to God that though you were slaves of sin, you became obedient from the heart to that form of teaching to which you were entrusted,
No one can serve two masters; for either he will hate the one and love the other, or he will be devoted to one and despise the other.