Many people who cheat do so because they get lost in a fantasy world. The person they cheat with is new, "forbidden" as another poster said. They don't represent the stress of daily life, so it's easier to forget one's worries when in their company. What typically happens is that the two end up having an affair, but when they start building their own stresses on each other, the same problems arise and they lose interest in one another.
Since you and your husband spent two hours cuddling, I'm assuming he was forgiving and understanding. That makes me like him, but he needs to realize how important foreplay is to you. I think the two of you need to stop rushing to the main event, because that will only cause further pain for you. Forget about that part entirely. Just start with the cuddling. Hold each other and kiss each other without the thought that it has to end with sex. Just enjoy being together as husband and wife. There's a lot more to a marriage than sex and there's a lot more to sex than penetration.

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