What to Do

i live in a sexless marriage .I'm a female been married almost 10 years .Sex was great,had it  everyday for 5 years then a few times a month then nothing at all for 3 years.He went to the dr. got pills but he says whats the point if he has no drive.the point is ME I need it!I need to feel desired and I had never had the big O til him so you can't do that to me then stop!I met someone a couple months ago and he told me he was interested in me and i told him i could only be his friend..Well one thing led to another and I went by his house today and had the most passionate sex i have ever had in my life.I feel kinda bad but i think i"m  falling in love with this other man.What do I do? my husband is mentally abusive ,he hates kids (i have 5 and 3 grandkids) he says he loves mine but he complains about them all the time.I have been thinking about leaving for the past 12-18 months.But i don't have cash to move out and my daughter and granbaby live with me. What happened today changes everything i think...this man makes me feel so good and he says he's in love with me and wants us to move in together.we have been friends and hung out and then today we just couldn't fight it anymore.I don't want t do the wrong thing and if I am goign to continue to see thisman i need to leave it's only fair.please someone give me some input and please don;t judge me i didn't plan on this ..