* Kimberly: There's no direct equivalent. You could choose a Gaelic name with a similar sound or a meaning that resonates with Kimberly (which has origins related to a place name). For example, you might consider names like Caitlín (Caitlin) which has a similar sound, or perhaps a name meaning "beautiful" or "noble."
* David: This one is easier. The Gaelic equivalent is Dàibhidh. This is a common and accepted translation.
Therefore, you wouldn't say "Kimberly and David" in Gaelic in a literal translation. You'd choose Gaelic names that are similar or have similar meanings. For example, you might say Caitlín is Dàibhidh (Caitlin and David) if you chose Caitlín as a suitable equivalent for Kimberly.