Letters to the Editor
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"the right to privacy"
Uh...there's a difference between walking in on your spouse scratching his/her ass and walking in on him/her making out with someone else.
If that's all the LW's done in the infidelity dept. in 15+ years of marriage, he's better than most. That still don't make it right, and he knows it.
Why does he want to do these things even though his marriage is good and he wants to be a faithful husband? It's called temptation. It happens. Flee it. Avoid the situations where you can get yourself into trouble.
And for God's sakes, don't go telling your wife about these two incidents unless absolutely necessary (meaning she asks or someone else tells her). And if any of this ever comes up, be honest!
(BTW, I know there are couples out there that are OK with the spouses kissing other people etc. Bully for you. But this doesn't sound like that's what the LW or his wife had in mind for their marriage, and the implicit agreement they made should be respected.)