The Lord said that one of David’s ancestors would always sit on the throne...that is a reference to the Messiah, so yes, Jesus is a descendant. I’ve always loved that David’s grandmother was a gentile. This means that Jesus encompasses both the Jew and the Gentile.
Both Rahab the Jericho prostitute an Ruth the Moabitess are great Grandmothers of David, and by extension the forebears of Jesus.
IRK, especially since the first Christians started out life as Jews; at least I think they did.
Ruth —> Obed —> Jessie —> David