Confused as hell

So about 2 years ago I was seeing a guy and it was long distance. I was 18 at the time and he was 26. Age gap oh the horror. Lol any ways I was extrmemly immature at the time. We have kept in contact over the past 2 years. We both recently just had kids. We both stopped seeing the baby other parents. (his baby momma and my baby daddy) It was for one reason or another things just were not working out. While we starting talking again more. He asked me to come see him I do and I bring my daughter (he had his son) Was so much fun. I go a second time and it just me and him and his son. We hang out and talk. One thing leads to another and we end up sleeping together. I stay the night and we wake up the next morning and this are amazing he cuddling me im happy he is happy. Now its a couple days later and he wants me to come see him again. Its fine with me but we both explained how we have feeling for each other again.

This is our relationship pretty much. I sent him this and he sent a smile and laughing face saying yup. Im just unsure as to how or what to do now... Just wish I knew what the next step was I don't want my heart to get broke again and I don't want the kids either his or mine to get hurt.