Hey, there is no reason for us to judge you!
You are really special, you have made a mistake in the past and actually confessed it to the person directly related to it, your husband! Be proud of that!
Take it easy, you have made the most difficult step, the rest is relatively easyer.

Go to therapy together, it helps to get things out in the open! It helps make your relationship stronger, it will help you get rid of the guilt you feel.
Everyone does mistakes, we just cant except them when we do it! Why are we so hard on ourselfs! Life is a journy, it is not a straight plain road but a bumpy one! Accept your mistakes and learn from them! If you do this then you are one of the best!!!
As regards to kids! there is no hurry, if you dont feel prepared, then wait a wile longer! Dont have kids cause your friends and family want to! If they want a kid,. let them make it

Nowerdays couples are having kids at any age so dont worry be happy
Life is very hard, dont take everything so serious, youve got to take it with a pinch of salt! Dont think that people are looking at you and judgeing you, most probably they are trying to hide their secrets too, cause everybody has a couple!
Just know that you are not alone, you have your husband, you have us and most importantly you have yourself! Help yourself get trough this dont be hard on yourself when you make a mistake. Remember if you dont do mistakes then you would not learn what and what not to do!
Good luck! and take care!
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It is nice to be Important...but it is important to be nice!