To this point in the story, Cersei has been all Jaime has thought about. She's what has kept him going, essentially. In the "previously shown" segment before the episode started, they highlighted Cersei telling Jaime that everything had changed. Taking her like he did was only him trying to make things as they were (strange as it was with their dead kid hovering right above them). Going forward I think they'll keep that part of the story true with the books - her pushing him away to where he shuns her, as well. That was the beginning of the rest of his story, as it was.
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