Hi.
That's a big question--and a very personal one. No one approaches the question of forgiveness in quite the same way.
It partly depends on how you feel about the unfaithfulness itself (assuming we're talking about you). Did it really hurt you? Do you think you can trust this person again?
Sometimes an incident like this can be seen as a challenge that--with lots of communication--might even make the relationship stronger. Other times it feels too late because there's been a "betrayal" and so much trust has been lost.
Every situation is different, though. You just have to see how you feel and what kind of reaction feels right for you: Do you break up? Do you try again? Do you take a break from each other till you figure that out?
I recommend giving this a lot of thought and talking over what's happened with the other person involved. Just because you "truly" love each other doesn't mean you should necessarily stay together, but hopefully it does mean you can discuss your feelings openly and honestly.