It would appear at least that you were taken advantage of in a moment of weakness. I see 1ke’s point, and there may be state laws to the effect that having sex with someone who is intoxicated constitutes assault, but I wouldn’t dwell on that because you have more important things to worry about, like restoring and building a strong relationship with God and your wife and children.
If you are Catholic, the sacrament of Reconciliation, also known as Confession, would be a great place to start. That and repent, try to sin no more, pray for God’s assistance and guidance, and try to build a better relationship with God.
I cannot give specific advice on how to strengthen your marriage and your family life. One single instance of infidelity should not cause you to lose hope or give up on your marriage. You can make it better.
Confessing to your wife may cause things to fall apart, which would harm everyone. But here is something else to think about: Your wife may already sense that something is wrong. I doubt that you are such a good actor that you can hide your pain and fear. But what to do? Seek counseling.
Seek counseling from someone who strongly supports marriage as a solemn and lasting commitment of love. A priest or professional can discuss your situation and give you much better advice than a bunch of random people on the internet.
And pray. Pray for yourself, that you may work toward a good life and have peace and love in your heart. Pray for your wife and children. If you think about or fear the other woman, perhaps you should pray for her.
I am praying for you too. May the Holy Spirit assist and guide you always toward faith, hope, and love.