caught husband cheating

Samantha
So my husband, a friend, my 2yr old daughter and I went to the beach and went straight to our place afterwards... I took a quick shower and opened the door to my room without closing the bathroom door only to catch them in the middle of having sex while my daughter was in the room...I don't know what to do I'm so disappointed and hurt
Update 
Since I'm still getting comments yes we split up. He's currently living with a few guy friends and comes over daily for a couple hours to be with the kids. He's applied for me to get my own apartment to live in with the kids and will pay the bills for me