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First, there is no such thing as borderline manic/depressive. Either you are or you aren't. You say you have never had a "real" affair, which suggests me that, yes, you have had an affair, but just aren't being 100% honest about it. You wife is most assuredly having at least an emotional affair, though it would be hard to say from your post if she's also having a physical affair. But that rally makes no difference. Personally, an emotional affair is more devastaing than just some kicks and grin sex, though that is just as wrong. Seems like you both seem to have difficulty setting boundries with friends.
You make mention of your leaving and her latching onto someone. You are kind of glossing over what may be a very important aspect of your current problem.
You have no choice. You have to get you and your wife into marital therapy ASAP. My personal opinion is that a marriage cannot survive infidelity without the help of a professional trained in dealing with this crisis. So don't even think about trying to handle it on your own. The first order of business must be for her to end the affair. There is nothing that the two of you can do to mend this rift while she is still involved. This will mean that you and the other couple must end your friendship. There cannot be any going back now. this is probably going to cause him considerable trouble with with wife, since she's going to be very curious about why this friendship suddenly ended. But that's not your problem; it's theirs. Offer no information if you are confronted by the other wife.
By the way, where the hell is the other wife during all this? If your wife is going to their house without you several times per week, and your wife is having an affair with her husband, how are they doing it without her knowledge?
If your wife refuses to end the affair, you only have two choices. You can either leave her or you can wait the affair out. Most affairs end within a year, but not always. There are those who choose to wait them out and then work on repairing the damage. I'm not so sure this is a good approach, since the emotional fall-out for the wounded spouse can be devastating.
One thing is certain. Were she my wife, she would not be allowed to go to her lover with my knowledge and assent. If she wants to srew around, she whould have to sneek around to do it.
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