The two men you mention never met in life and were born centuries apart. Jacob was an important prophet, the grandson of Abraham and the son of Isaac. God changed his name to Israel after he wrestled with an angel of the Lord. read more
David, a great king of Israel, was descended from Jacob's son Judah. David featured Jacob in many of his Psalms to reference Israel's humble beginnings as a simple man who became the father to all the Jews. David also had began as a simple shepherd boy and later became the king of Israel. read more
The relation between Abraham and Jacob, was that Abraham is the grandfather of Jacob. read more