Evening all 
Just come out of our joint counselling and it was a tense one! My husband asked me to start off the talking so I described the week and started talking about the shower/bench day. It all kicked off from there really, he was very angry that I was focusing on negative behaviour again (part of that morning had involved him snapping rudely at me and he was cross that I'd mentioned it as an issue as he said he's only human - actually I'd explicitly said that wasn't the issue; as I knew he'd been stressed about work when he snapped). Anyway, he said he was fed up of me focussing on negatives and dragging him down, and he was frustrated that I was getting weepy about his behaviour and he was sick of me making out like he was a monster (I was being 'weepy' about his reaction in the session to me explaining how I felt my boundaries had been violated). He also said he didn't want any more cuddles or contact with me as he's sick of me dragging him down and so he didn't feel like touching me.
The counsellor looked a bit light a deer caught in headlights for a while
 I said that I felt like the only way he would be happy would be if I never mentioned any new events or issues with his behaviour ever again. He said that wasn't the case but he didn't think it was relevant as I'd previously said I was operating on the assumption that he would be well behaved going forwards (which made no sense to me, as how can he correct any further issues if I'm not allowed to raise them...). He was very cross that I'd waited until the session to raise my issues as he felt ambushed.
He calmed down after a while and the counsellor managed to get him talking positively about what the future might look like in terms of the behaviour I need, our boundaries in terms of how to communicate with eachother, and he acknowledged how he understands he may be difficult to talk to and raise issues with.
He's now left the room and been quite cold with me so I think he's still feeling hard done by that yet again the session focussed on his negative behaviours, and the fact that I raised them to discuss. We didn't even get a chance to talk about me getting space!
We actually had a lovely evening together last night, as he was in a great mood after receiving some good news. So it's a shame that the session has dragged us back down. 
I agree with so much of the above but just want to add that the OP's husband may well be genuinely suffering and trying to the best of his limited ,messed up ability to put things right
Thank you @peridito for saying that. You're absolutely right, he is genuinely trying to improve himself but being held back and locked into going round in circles over the affair because I'm unable to move forward with him. Yes, he has issues and it means his behaviour can be unacceptable, but he is still a person with valid feelings and my own behaviour is not helping him now either.
Desperately trying to discuss and fix your marriage through forced conversations is just another way of saying imposing his views and feelings on you. It doesn’t matter how desperate he feels, he doesn’t have the right to control your behaviour, erode your privacy and force you to listen to him when you are in the shower
Yes, I totally see that. I actually tried to explain in the session that I saw his inability to hold back on any discussions as linked to the same aspect of his personality that used to result in tempers. In both scenarios he's pushing his emotions into me without processing them himself. Neither him or the counsellor understood what I was trying to say though!
The reason you're not helping is that your entire relationship has grown around his need to control/abuse you to make himself feel better, and you have both convinced yourselves that making him feel better is the ultimate goal in life. It's not doing either of you any good, I'm afraid.
Yes, so true @Alcemeg, and the reason things keep stalling now is because I'm unable to fall in line to help him with that. You're right, he does have a core of mayhem - which is so strange because he presents to anyone else as such a logical person, but he hides behind that black and white logic I think.
Can I ask what is your end goal if you stay with him? To grow old and be buried together? To divorce and move on when your daughter is an adult, a teen, a child or while she is too young to remember a life with two cohabiting parents
That is a really good question, and I honestly have no idea. I think I knew deep inside, before this all kicked off, that we couldn't possibly stay together forever. Maybe subconsciously I wanted things to survive perhaps until our children were grown up. But yes, I do feel a lot of pressure to resolve this either way before our daughter gets any older!
Somehow you need to carve our some space for yourself - even if it's just 30 minutes on that stupid bench every day - and start listening to yourself again. Probably a silly thought but even something like meditation or yoga might be really helpful?
I love that idea! I've just downloaded a meditation app so I've got a plan to have 30mins each morning ( at least on a workday when I don't have my daughter) to do some mindfulness on my own in the garden. I think that will really help me.
@QuentinBunbury funny you should say that about picturing your psychologists face- I do the same!! You can trust yourself you know. You aren't overreacting. Your feelings are important. - this is the crux of the matter for me isnt it. I keep veering between just about managing to get some real perspective on what I want, to then feeling completely undermined by his own perspective on things.
What is interesting @helplesshopeless and this isn't meant to be challenging...well maybe just a bit , is on the one hand you have one DH telling you X, and on the other hand you have a dozen (two dozen? three?) women on MN telling you Y
Ha! Yes, and I think that's why I'm always so desperate to point out his own views. Because the message from him and all of you lovely lot is so different that surely I'm misrepresenting things somewhere along the way. 
There's sooo so many helpful posts and comments and I've not managed to respond to many of them, and I appreciate the above is a bit of a brain dump! But I'm absolutely reading and digesting everything you all say. Thank you as always for your help 