I slipped

So it's 5:04 am and I got home an hour ago from fighting my husbands baby's mother. All the anger I had towards her left. I fought my husband as well not physically though. I can't believe that I allowed this to happen. I kind of regret all this. Because I know I disappointed my lord and savior. I fell off and that's something I didn't want to do. What you reap is what you sow. I know it's too late to repent but I really feel horrible about this whole situation. She knew I was married to him when she kept sleeping with him, even though we were separated we were still married and he didn't tell me about it Til a month ago. Their baby is now 5 months and I feel horrible. I need serious prayer. Should I go to a Christian type of counseling? I live in RI. If anyone knows comment "I know"