Reflecting on my past mistakes

I have been married for nearly 10 years, and normally that would be good, but how we got together wasn't good. I fell for a married man. My husband and his wife had been together 3 years. They were having a lot of issues and he told me he had fallen out of love with her. We had an affair. After 3 months I told him if he wants to be with me he has to leave his wife. So... he did... Looking back, I wish that we didn't get into our relationship that way. I don't regret marrying him. I don't regret having kids with him, I do regret how we got together. He told me she wanted kids but because of their marital problems they didn't have any. And here I am with two. I feel really guilty, and I know I can't change the past. One thing me and my husband are worried about is when our kids start asking how we got together. I want to tell them the truth. I want to it in a way where they don't think I regret marrying their dad or that I don't love him, but also have them understand how we did things was not the right way to do things. This isn't something I can talk to a whole lot of people about because many people can't relate, which is a good thing. I guess I just needed to get out some of these emotions. We did something really shitty and even though it ended well for us we hurt a lot of people in the process. I want to make sure my kids know we love each other, but don't do things this way