1 Chronicles 21:1
21:1 Then Satan stood up against Israel and moved David to number Israel.
NAS

2 Samuel 24:1-2
24:1 Now again the anger of the LORD burned against Israel, and it incited David against them to say, "Go, number Israel and Judah."
NAS

2 Samuel 24:1-13

He moved David. The Chronicler (1 Chronicles 21:1) refers the inciting of David to Satan. From the Biblical viewpoint, all things have their ultimate source in God. Even the wrath of man, and Satan, ultimately further the divine purposes.
(from The Wycliffe Bible Commentary, Electronic Database. Copyright (c) 1962 by Moody Press)

1 Chronicles 21:1-7

21:1-7. The chronicler did not state David's motivation for taking a census of Israel except to say Satan... incited him to do so and David wanted to know how many... fighting men there were. In 2 Samuel 24:1, however, the historian revealed that the Lord was angry with His people and used David's census as an occasion to punish him and them. No contradiction is here for the Lord simply let Satan tempt David to undertake the census, much as He permitted Satan to attack Job (cf. Job 1:12 and comments on 2 Sam. 24:1-3). In His sovereignty God's ultimate authority extends even to the workings of Satan. David's immediate purpose was to assess his military strength (1 Chronicles 21:5). This incurred divine displeasure because it suggested that he was relying more on military capabilities than on God's power. Probably that is why David admitted that his action was sin (v. 8).
(from Bible Knowledge Commentary/Old Testament (c) 1983, 2000 Cook Communications Ministries; Bible Knowledge Commentary/New Testament (c) 1983, 2000 Cook Communications Ministries)