Cheated with my friend

I recently found out that my wife of 5 years cheated on me with my best friend on 2 different occasions. Both times we were at a campground where everyone was drinking heavily and I was sleeping in our tent while she was kissing/groping with him. The only reason I know this is that his wife caught them. She swears that it meant nothing and that she was just drunk but I feel like this had to have happened with him or other people in the past.

I'm a wreck because we have 2 children that are ages 4 and 2 and while I want the life I had I don't think I can stick around and feel selfish for not being around my children. Any advice would be appreciated. They were caught 2 weeks ago and the "first" time happened about 5 months ago.

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