Yes we have.
I think it depends on why the affair happened and what your partner is willing to do to examine the issues that were in himself that lead to the affair.
The affair happened a good few years ago now, but we'd been married 20+ years when it did. It was a very brief relationship that was mostly conducted by text messages and phone calls, although the relationship was physical. My husband had more or less ended it when I found out so it was no loss for him to end it properly and have no further contact with the other woman. He also became instantly transparent not just with future behaviour, but with everything he hadn't deleted while the affair was ongoing.
I was profoundly shocked because we'd always had such a happy marriage. But my husband insisted this had no relevance to our marriage. He admitted instantly that the problem was him and that because he'd been having a bad time at work (feeling massively stressed and under-appreciated there) this had been an escape from the pressures.
We didn't do joint counselling, because the affair wasn't about our relationship and that had only started getting problematical after the affair began. We both felt we had the skills to repair the damage caused by the affair but for us, it was more important that my husband had some counselling on his own, to find out why this had happened. He had a great counsellor who was straight-talking while being supportive. My husband found it invaluable to join-the-dots and see how his behaviour had links with his childhood, when certain personality traits were formed.
It was therefore essential that he changed his behaviour and attitudes and I was very uncompromising about what I needed from him, to stay in the relationship. He fought tooth and nail to change and to keep me. He personally apologised to other family members and our adult children, for the pain his actions had caused. I guess he walked the talk and I judged him solely by his actions, not pretty words.
It's a hard and painful decision to stay with someone in these circumstances and I'd never recommend it to someone who is doing it for any reason other than love e.g. staying for the children or out of fear of being on one's own. I'd also not recommend it to someone whose partner is blaming them for the affair, something my husband never did - no more than I would have accepted it either.
We're even happier now, mainly I'd say because of the changes my husband made to himself. The trust has been completely restored and although it might sound strange, I trust him more now than before. He's learnt so much about himself and his own boundaries, that there's no way he would ignore all the warning signs that are always there before an affair starts.