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Yes, indeed. Both Joseph and Mary were from David (Mt. 1:6; Lk. 8:19). Jesus was born as the root of Jesse. See isa 11:1. David's line in Matthew is the royal line through Solomon. His line in Lk. 3:23-38 is through Nathan, another son (2Sam. 5:14), and Heli, the father of Mary. Both lines were necessary in fulfilling prophecy. God had cursed Jechoniah (Coniah or Jehoiachin) of the royal line and sworn that no seed of his should ever sit on the throne of David and reign in Jerusalem (Jer. 22:24-30). God had also sworn to David that his line through Solomon would forever sit on his throne (2Sam. 7). The only way this could be fulfilled was for Jesus, the Son of David through Nathan and Mary, to become the legal heir to the throne of David through Joseph of the kingly line (Lk. 1:32-33 Isa. 9:6-7 Rev. 5:5; 22:16). Jesus, being the foster Son of Joseph and the firstborn in the family, became the legal heir to David's throne through Joseph. Mary the wife of Joseph and the mother of four sons besides Jesus, and of at least three daughters. Lk. 8:19.
Yes, both Mary and Joseph were of the tribe of Judah and of the lineage of King David. The term Jew is derived from Judah the southern kingdom and is only used in Scripture after the kingdom was divided during the reign of Rehoboam.
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