Your situation sounds really positive. I second the suggestion on picking up the book "Not Just Friends." As the LBS it has really helped me understand what happened (and how easy these things can occur even in happy marriages!). It's probably one of the better books I've read on this topic. In fact, Michelle Weiner-Davis even has a quote on the front cover.

I'm sure the physical intimacy will occur in time. Just keep being a friend and start "dating" your wife. If possible, try to add in a little romance. I think if there was a spark of passion prior to all of this you can definitely find it again and even build it into something more intense.

There is no arriving, ever. It is all a continual becoming.