<human>: Condense the text into a few key points

Two and a half years ago I left my wife. I was horribly unhappy with her. I had serious anxiety issues and she was only too happy to ignore me. Our kid was 3 at the time. After I left my wife, I had sex with my Dad's cousin. I still cannot believe that I did it. Worse, she became pregnant and carried the baby to term. I have never met or seen this child. I feel that I did the right thing in leaving my wife, but what I did afterward disgusts me and I feel like my life is essentially over. The only reason I continue on is my kid with my ex. She sustains me. I have held this in for so long, and only a few people know.
<bot>: I fathered a child with my Dad's cousin and I only continue going because I have another kid with my ex who is my world.