Hi Kerry,
Discuss it with him. Prepare exactly what and how you are going to say it. Choose the right setting (you know what he likes) and tell him something like: "Both of us made terrible mistakes. You shouldn't have tried to have sex with my sister and I had to think twice before reacting.... after all we we have responsibilities and have a son .... I suggest that we forget about the past, forgive each other and concentrate on how we both build a new, better, future for us. The time is now, later or soon is no good. I am ready to go more than an extra mile for you, are you ready to go an extra mile for me and for our son ?". Hope it will work (and above all: It's not only words, you have to mean it !).
Best regards,