All in your point of view
I had a neighbor man come over one day about 15 years ago and asked me if I would consider giving his wife a ride on my GL. Of course I obliged him and, although not directly related to that ride, his wife and I are now happily married. Go Figure!
Is it cheating in your heart? Don't worry about what people think, worry about the fact that you even have a question about it in the first place. The heart controls the body, mind and ultimately the soul. " . . . as a man(kind) thinketh in his heart, so is he."