One day i was wearing my shirt and lying on my back my daughter was playing on top of me then suddenly she begain acting like she was feeding or more like playing on my chest/breast/nipples I felt some thing which i am unable to define on my nipples and I didn't stop her fully. i liked that feeling and i am so ashamed of that. I never let her sit on me again.
Next day
I saw a bayan in which a molana said if a husband generats feeling for his daughter than his wife is haram to him or if wife generats feeling for her son she will be haram to her husband.
I didn't gave it much thought and moved on
Few months later i was not really in to my prayers and I thought maybe Allah is angry with me so i started thinking why and this incident came to my mind.
I got so scared i cried alot and prayed alot and asked Allah for forgiveness.
Please tell me if my husbnd is still halal for me. Also please tell me what kind of act makes the relationship of husband and wife haram. Also i can't shorten my question more then this thank you

All perfect praise be to Allah, The Lord of the Worlds. I testify that there is none worthy of worship except Allah and that Muhammad is His slave and Messenger.

Don't think about those thoughts, and be keen to obey Allah Almighty and perform the prayer regularly. Sincerely repent to Allah for the prayers that you have neglected and ask His Forgiveness.

As for your relationship with your husband, it is as it was and what you mentioned has no effect on it at all.

Allah Knows best.