Incompatible late marriage, lack of intimacy and less communication with my in-laws.
I gather from your explanation that your needs and the needs of your in-laws have not been voiced adequately/ reasonably. It's appreciative that you're able to consider your husband's goodness as a strong enough actor to keep you from making a big decision.
With your husband, if there are things about him that you would like changed, then maybe talking to him about it openly, in a non-offensive manner is your first step. Getting to know why he does/ doesn't do things a certain way will add more dimension to your understanding of him. It's possible that you may find some of things worthy of acceptance after this conversation or it is also possible that your husband maybe willing to reach a middle ground and change a few of these things to make you comfortable and build a foundation for intimacy to develop.
You're both middle-aged, give him some time to understand what it is that makes you happy and take the time to voice your needs and wants. Extend the same listening ear to his needs and wants. Intimacy develops over a period of time and with conscious effort. Talk to him about his views on your marriage and if he sees children in his future with you. Most importantly, you have to start communicating more openly with him. It will also create a secure base for your family when you both are ready to have a child. I would also recommend, if possible, that both of you visit a marriage counselor/ therapist to have guided effort in building a strong relationship.
With your in-laws as well, since you're living together there are many small and big incidents that could have led to a salty relationship. Take some effort to figure out exactly what has caused the lack of cordiality to occur between them and you. Here again, communication can play a big role in helping you figure out a problem and considering possible solutions to bring about some amount of stability into your home.
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