I don't know what your religious beliefs are but there is a movie called Fireproof that you may want to watch. I haven't seen it personally but I've heard good things about it. It is based on the book Love Dares.
Honestly I don't know if you can fall back in love with your husband. The bigger question is do you want to? If the answer is yes, then try. If not, move on. I don't think I would stay for the sake of the children. However, if your husband is not on board with counseling...I just don't know. Is he against counseling? Does he feel he/your relationship doesn't need counseling? Are his feelings the same as yours?