Help. Thoughtful advice needed.

I have been with my husband for eight years, married for five. He cheated a couple of months before the wedding, but waited until three years later to cop to it. At this point we'd already had our child, then he finally told me. Ever since, I've tried to work on forgiving...we have a beautiful life together, but every few months I feel overcome with sadness and frustration. I, at times, find myself wanting to start over...find someone new, who didn't cheat or lie. I'm having a very hard time figuring out what to do. Any thoughtful advice would be truly appreciated.