Tips for Healthy Relationships

My husband (44M) and I (36F) have been married for five years. Recently, I discovered that he had been messaging girls on a website offering sexual services. He underwent a formal polygraph test conducted by an administrator with over 20 years of experience, which confirmed that he has not had any physical contact with other women since we've been together. It also indicated that, aside from the incident in question, there has been no other interaction with women through messages or similar means. He has agreed to refrain from using his computer privately and to delete his social media accounts. Additionally, he is seeking individual counseling, and we will soon begin marriage counseling together. He feels deeply remorseful and has been quite depressed over the past year. I genuinely believe he made a mistake that is completely out of character for him. I want to forgive him and work on keeping our family intact. He’s my friend, and I still enjoy spending time with him, but the loss of trust is really painful. Has anyone out there successfully navigated staying together after experiencing something like this?