is this considered a relapse

All depends on how you feel. The fact you have posted this means you feel guilty.

If your goal is to stay away from P then there isn't a problem. If you didn't want MO then you have failed.

BUT the fact you have done this with you wife and not sitting alone looking at a screen. For me it would mean no you haven't relapsed.

Hope that helps.

J

 

It depends on your goals.

Were you trying to avoid PMO?
Were you trying to avoid only P?

Personally, I would not take it as a relapse, as it was part of the sex session.
But be careful, if you do not have condoms, do not risk it. Precum can make your partner pregnant and also you are unprotected from diseases.

Take care!