I have been in the army twice, and left both times in training, can i join the raf or navy?

i left the army the first time as a daor then the second time i had personal problems and stupidly didnt tel any one, and just said i wanted to get out, it was hard to get out the second time because obviously i didnt have the right to leave, i was then told i would not be able to re-join the army, couple years on im regretting it so much, theres nothing out here for me, whilst i was in training i allways got good reports as i try %110 at every thing i did. i need to know if i can join either the navy(royal marines) or the raf regiment, as i will feel alot better if i no there is still something out there for me, i know people will think that i obviously dont want it because of leavin the army twice but trust me i do, i had a really bad time back then and wish now i could of gone about it another way, please gie me hope.....Thank You