S.J.
S.,
This happens. Unfortunately when it does, it becomes awkward and uncomfortable for both parties.
My recommendation based on my experience is for you to relax. If you relax your husband will. Instead of talking about it do something.
If possible set a date with your husband at home. See if you can get someone to take the kids overnight. If not get them to bed early.
Greet him at the door with a drink and tell him you have a relaxing bath drawn for him. Keep it light. Get him in the tub and you help him relax in the tub while you bath him. You should have already had a bath.
Don't forget to have a drink for yourself, if you drink. If not still have a drink of something. It helps set the mood.
While you are bathing him, kiss him on his body and help him feel your mood. Some good soft music should be playing. Things will take its natural course and before you know it...
This will work, just don't over think it.