It sounds like you learned from this experience. You should have reflected on your desire to cheat and where it comes from and talked to your former partner about it, but you know that now.I'll bite and come in as the person who new they were the other woman. To make it even worse, as well as him being in a 3 year relationship that I knew about, I was in a 5 year one and thought I was happy (the fact I cheated tells me I must not have been).
Started randomly after drunk night out and we just carried on meeting up for months until his girlfriend finally found out.
Looking back I have no idea why I did it (except for me being a piece of tit, I suppose). We both broke up with our partners and I've never seen the other guy since. Luckily my ex is doing well and is happy now. I haven't wanted to be with anyone since as I feel like I don't deserve to but also I don't trust myself and never want to hurt anyone like that again.
Open to judgement and criticism as I know I deserve it.
Of course you deserve being in a relationship and you can learn to trust yourself again.