What is the likelyhood of a couple who's been separated for 2 1/2 yrs to come together w/marital counseling

We've been seperated for 2 1/2 yrs (from infedelity), have 2 children and have gotten friendlier over time. I don't want to go into this w/a cynical attitude because there's alot of me that wants this, but so much time has past and so many words have been said. Any success stories?