So you allowed it to be violated once...you learned that he had not changed and admit that not only did you make a huge mistake but that you have learned about your own faults in regards to allowing his behavior and why.
Keep track now of not letting him violate...meaning any possible way that you are following the order, whether that means not responding to him or taking his phone calls or bringing witnesses whenever having to meet him in public for exchange or visitation of child and prove that you understand the mistake that was made and how to avoid it again. Continue and document your counseling. Bring the child to family counseling, if your not doing so already.
We all have weak moments and lapses in judgement, especially in dealing with someone who professes their love for us. If it continually happens then that's different than just making a mistake. Being able and ready to admit the mistake and the steps you have taken should actually help your credibility, not hurt it.