Should I seek counseling before getting into another relationship?

I’m coming out of a marriage of who I was with for 10 years.

From the age of 15 to the age of 25.

I for some reason was not able to stay consistently faithful throughout the 10 years. (No judgement)

I know what they say, cheaters don’t love the person they cheat on. That’s not always true.

The guy I was married to knew of my issue and has told me I should seek counseling for it because it may stem from deep rooted childhood issues. Such as losing my father at a young age, and my mom having a boyfriend live in our home for the 10 years of my childhood who always pointed out our wrong doings.

So maybe I’m constantly seeking for approval and I seem to be dissatisfied.

I’ve been seeing a guy for 3 months now, and I’ve been in situations where I could cheat but I haven’t (nor had the desire to) but I’m scared that it may come up later on in the relationship.

Does counseling seem necessary?