@Carlo73,
Yeah, you're being foolish. You've been foolish all along, considering that the entire affair was essentially what would be considered sexual harassment.
You sure neither of those kids are yours? If you insist on a DNA test, be prepared to be dinged for child support.
As for contacting her, sheesh, leave it in the past and block her on all forms of social media and communications (yes, that means your phone at work as well). And get some counseling, preferably with your wife (remember her?). Talk about your marriage and about an exit strategy that is best and easiest for your children and allows the two of you to co-parent them well.
Why am I suggesting a divorce? Because staying together for the sake of the kids is a shitty reason to be in a marriage, and it teaches your children that love doesn't matter and marriage is an economical convenience. I tend to suggest that couples give it one more try when they have kids, but I think your marriage has been over for years and it would be better to get it all over with sooner rather than later.
It's also better for your wife so that she can find someone else. If you are as amicable with her as you claim, then you'll man up and do this for her.
And it will be better for
you to be on your own - and hopefully looking for romance with people who you don't have financial and hiring/firing power over.