21:8a Then David said to God, “I have sinned greatly because I have done this thing.

David prayed, “I have sinned badly in what I have just done. (MSG)
-or-
David told God that what he/David had done was very wrong.

21:8b Now I beg You to take away the iniquity of Your servant,

Please, please, forgive my sin! I am your servant.
-or-
He asked God to please forgive him ⌊for counting the men of Israel⌋ .

21:8c for I have acted very foolishly.”

I’ve done a really bad thing.”
-or-

⌊He/David admitted⌋ that it was a wrong thing to do.

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