I am feeling like a deer in the headlights again and unable to take the next step. So I was hoping counselling might help me make a decision.
You need to go back to the individual counselling.
Try to work on seeing yourself as a woman out in the world again, as an individual and not as half of a couple. It can be very mentally isolating to be the sahm dealing with all the puke and shit, and hard to lose the WE/US mindset and see yourself primarily as ME, I, MYSELF again - on your own with all the plusses and minuses that entails, single, responsible only for yourself and your children's care, making all the decisions, with no mental habit of relying on some backup. It can be hard to see the advantages of that.
Or work on facing the choice of reconciling and moving on with a very imperfect relationship in which you will never hear an apology. Your H is not ready to accept your truth here.
I realise she was trying to be even but I felt attacked for the whole session. She basically said our marriage was clearly crap before (it wasn't ) and he agreed with her. While he may have agreed if he thinks back to when his mind was fuelled by lust and irritation at having to be separated from ow, if he thought back only six months more we were good and had been for 16 years. I don't think I am willing to go if she is going to require me to accept half the blame for his inability to keep his dick in his pants so what should I do;
Maybe the marriage counsellor did you a favour in drawing out your H's inclination to agree with the 'script' that the she presented? Maybe you can see how inclined he is to agree with a narrative in which you were at least 50% of the 'problem'?
Cheaters always paint their relationships as faltering, flawed, on their last legs, 'going through the motions', 'only staying for the children', or 'only staying because she is so sensitive/incapable of holding it together/crazy she would kill me'... The betrayed spouse is portrayed as a lazy, bitchy, frigid, harpy who can't cook, neglects the children, has let herself go, smells...
The counsellor presented a very stereotypical narrative and apparently your H liked the sound of it. This is extremely significant.
I think the message you should take from this very useful session is that your H has mentally and emotionally checked out of the marriage.
You have no use whatsoever trying to present the facts of the marriage as you see it, or trying to get your H to take full responsibility for his own cheating. He is not willing to accept the truth. Worse, he is eager to jump on the 'spread the blame bandwagon'.
Are you willing to keep on trying to clap with one hand? Or would your time and energy be better spent proceeding with divorce and securing a good financial settlement for the children?
If you go to individual counselling, work on drawing a line under the relationship and moving forward with no sense of 'closure' that a sincere apology from your H would give you. This state of things can drive the innocent party to a very unhealthy place without assistance in moving past it.