Just erase everything except their mere existence --- you have two random people named David and Bathsheba? --- then of course, the can be admitted to the Church. Everyone can be admitted to the Church upon a profession of faith, repentance for sin, and baptism.
If that's not the answer you're looking for, might you possibly clarify what your question is about?
The point is would David and Bathsheba be allowed to join the RCC and participate in communion in light of the prior sins committed.
Some of your fellow Roman Catholics would say no.
Isn't that what all of the bru-ha is about Amoris Laetitia?