T.B.
Girl, go get your husband and your family back! You can be happy with yur husband, but it is a choice you will have to make. If counseling was not working for you, then get a new counselor. I have to tell you that cheating is such an unbearable pain that if he was willing to take you back and work on things, count your blessings!
I know that you all have a lot of problems to work on, but they are your problems. When you bring a 3rd party into your marriage, then that only adds to your problems and adds his problems to yours as well. I am so sorry that you were not happy in yoru marriage, but the alcoholism and the sex issue are things that you can work on together, but both of you must be willing.
Talk to him, beg his forgiveness and tell him you want your family back and you are willing to work with him and do what it takes to make that happen. You see now that the grass is not greener on the other side, get your family back and turn to God fo the answers. (And end all contact with the outsider or I am telling you that this will keep complicating your life).