David had Uriah murdered because David got Bersheeba pregnant and Uriah -- who felt guilty about leaving his comrades in battle -- wouldn't sleep with her and hence provide cover for the baby. David really wasn't trying to steal the wife.
David still sinned greatly but he's not as much of a slug as that interpretation implies.
That could be considered as he tried to hide the tryst by having Uriah sleep with his own wife. A case can be made that the purpose changed when Uriah did not respond as desired. In any case, the deed was judged by David himself
2Sa 12:5 And David's anger was greatly kindled against the man; and he said to Nathan,
[As] the LORD liveth, the man that hath done this [thing] shall surely die:
2Sa 12:6 And he shall restore the lamb fourfold, because he did this thing,
and because he had no pity.
2Sa 12:7 And Nathan said to David, Thou [art] the man. Thus saith the LORD God of Israel,
I anointed thee king over Israel, and I delivered thee out of the hand of Saul;
2Sa 12:8 And I gave thee thy master's house, and thy master's wives into thy bosom,
and gave thee the house of Israel and of Judah; and if [that had been] too little,
I would moreover have given unto thee such and such things.
2Sa 12:9 Wherefore hast thou despised the commandment of the LORD, to do evil in his sight?
thou hast killed Uriah the Hittite with the sword, and hast taken his wife [to be] thy wife,
and hast slain him with the sword of the children of Ammon.
2Sa 12:10 Now therefore the sword shall never depart from thine house;
because thou hast despised me, and hast taken the wife of Uriah the Hittite to be thy wife.
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