Husband wants us to start over again after I cheated and mistreated eachother

Okay so I cheated on him and we have called each other every name on the book we’ve went from me pushing him from him grabbing my arm yelling at each other. We have a 1 year old daughter and he says he wants her to have a mom and not grow up without me because we’ve agreed that we separate and I move and leave him or he moved out the house then he could take her. Also I cheated because of the arguments and for him not paying attention to me sexually as much or told me he loved me like before. He says he doesn’t love me and I told him today that it’s too late because he has hurried me a lot also we both have and I told him for us to go to therapy a long time ago but he didn’t want to and I don’t know 🤷‍♀️ if I should get back with him or move on and forget about my history with him we dated for four years and married almost two years. He really doesn’t want to break up he really doesn’t want me to leave he just keeps saying we could fix this and that it’s not to late to fix it.he says that our daughter loves me a lot and it’s true because she wants me to carry her all the time and even cry’s when someone else carries her and he says he doesn’t want her to be without a family or mom by her side. And he said that he does love me and care about me. He says we have a lot of years together to just throw it to the garbage.