It is prohibited to have a sexual provocation with anyone except the husband. Allah described true believers as, “And they who guard their private parts. Except from their wives or those their right hands possess, for indeed, they will not be blamed -But whoever seeks beyond that, then those are the transgressors -“ (Al-Mu’minun 23:5-7)
What you have done with your little daughter does not cause any effect at all with regard to your relation with your husband. It does not render your relation with him haram in any way.
Almighty Allah knows best.
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