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I would say that their names are at least mentioned through the royal lineage from David through Solomon given in Matthew 1 (although Jesus was not Joseph's biological son), and the ancestry of Mary from David through Nathan as provided in Luke 3 (Matthew's genealogy also goes back from David to Abraham, and Luke's from David to Adam.) However, the details of the lives of David's descendants (especially through Nathan) are largely not given, as a result of the hundreds of years that elapsed between the end of the Old Testament canon, and the beginning of the New Testament canon.
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