Two words come to mind: HAVE FUN.
As long as this consent is between two sane adults in a healthy relationship and non-compromised state of mind, and as long as there is a way for each party to end this sexual behavior with no consequences, and as long as no one is hurt and no laws broken - what you do in your own private bedroom (or other places for the sake of spicing it up) is your own business. I am not even sure why you would seek a response from a Rabbi about this.

As A reform rabbi I would start by saying to you that there is no “right” answer or one absolute truth to what “Judaism has to say” to you today regarding your choices.

 

You made your choice in the past, and there is nothing you can do today to change the past. So the real question I would ask you today is: “what choices are you making now?” Are you living a Jewish life? Do you belong to a Jewish community? Congregation? Do you practice Jewish Mitzvot and values? Do you work for the betterment of the Jewish people and the world? Do you have a relationship with Israel? If you have children – what are you teaching them?
 
Throughout history different people made the same choice you did in the past for various reasons. The question is how did that choice effect your life since? There are many in our movement who married out of the religion and still live a full, beautiful and fulfilling Jewish life regardless of the faith of their spouse.

I do not believe that not marrying falls under the category of “martyring your life and sanctifying God's name,” and thus I do not believe that what you did was wrong. As I stated before – the end result of your choice and how you live your life today is what matters and is the answer to your question, which only you know the answer to.

 

Marriage requires more than just a deep sense of love and commitment. It requires the ability to communicate, to compromise, to work together towards joint goals and “to love the other as yourself". In an interfaith marriage, both people may subscribe to very different theological ideas and principles. Concepts of heaven and hell, questions regarding issues such as abortion or end of life decisions can lead to significant and painful disagreements. All marriages regardless of faith, may encounter these disagreements. The only difference is that, unlike politics or other values issues, where we may bring ourselves to change our minds, few people can make these kinds of theological adaptations. And so, as in any marriage, when a couple finds it hard to reach acceptable solutions to differences they encounter, in an interfaith marriage one spouse may feel that they had to sacrifice something that is truly important to them. These feelings can damage any healthy relationship. I would have to say that the question of raising children is probably the hardest obstacle to overcome. Agreement needs to be reached regarding the core issues of how children should be raised before the marriage. This may include questions regarding holiday celebrations, religious lifecycle events and ritual participation. In families that can not decide on one religion or the other, the attempt to merge both can create uncertainty, confusion and great strain. In many cases, the fear of facing these challenges has led many to choose 'no religion'. Thus the home is devoid of any meaningful practice. Just as in any other marriage, in an interfaith marriage, it is more than the couple that comes together. Their families also find themselves sharing an enlarged, newly acquired family. Many times it is pressure from grandparents, parents, siblings and other close family members that cause strain on the relationship. While the couples themselves are willing to find ways to compromise, their families may be in strong disagreement, and thus create situations filled with tension. Much of this can, and should be mediated before a marriage, so that the families, enjoying a new sense of enlightenment and respect can thrive.

 

Judaism is a religion that always allows for forgiveness, for redemption and for repentance. We cannot always forget the things we have done but we can always be forgiven for our actions. We are approaching the Month of Elul, in which we start preparing ourselves for the High Holy Days, a period of time in which we are all given the opportunity to engage in the process of TESHUVA, repentance. You obviously feel that what you have done is wrong, regardless if it is a sin according to Jewish law, and thus what is important to remember are the four steps in the process of TESHUVA: First we must recognize our sins, feel sincere remorse, undo any damages and pacify any victims of the offense and finally resolve to never commit the sin again. It seems that you have recognized your actions as wrong, feel remorse and resolved to never choose these roles. You now must ask yourself – did your actions hurt, directly or in directly others? If so you will need to find the appropriate way to pacify any victims. This could be done for example by helping financially or by volunteering with organizations representing values you want to support regarding sexual behavior. Rabbi Jonah Gerondi, taught "The repentant sinner should strive to do good with the same faculties with which he sinned.... With whatever part of the body he sinned, he should now engage in good deeds. If his feet had run to sin, let them now run to the performance of the good. If his mouth had spoken falsehood, let it now be opened in wisdom. Violent hands should now open in charity.... The trouble¬maker should now become a peacemaker". Last but not least, we must learn to forgive ourselves. We must follow the wise words of Rabbi Samson Raphael Hirsch who said, “First become a blessing to yourself, so that you may be a blessing to others.”