1 Samuel 18:2

Saul took him on that [very] day and did not allow him to return to his father's house.

1 Samuel 17:15

but David went {back and forth} from Saul to feed the sheep of his father in Bethlehem.

1 Samuel 16:21-23

So David came to Saul and {entered his service}. He loved him greatly and {he became Saul's armor bearer}.

Treasury of Scripture Knowledge

Summary

And Saul took him that day, and would let him go no more home to his father's house.

Bible References

Took him

1 Samuel 16:21
So David came to Saul and {entered his service}. He loved him greatly and {he became Saul's armor bearer}.
1 Samuel 17:15
but David went {back and forth} from Saul to feed the sheep of his father in Bethlehem.