I need advice, marital probs

So I have been married to my husband 5 years. We have a two year old daughter. He butt dialed me yesterday while he was with a friend and I listened. Big mistake. I heard him saying he saw (one of my family members) in yoga pants bent over playing with our daughter. And he had to hide a hard on. And he wanted to "pound it" I obviously am heart broken and confronted him and told him to gtfo of my life. He cried. He told me he is ashamed. He loves me and loves our family. It was just "guy talk" he wouldn't act on it. Blah blah. I'm disgusted. I want to punch him in the face. Do I ruin our family for something stupid that he said? Do I let it go? Help me. :( I do love him. And we have a good life together and our daughter is so happy.