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You don't owe anyone any explanations about how you spend your day or your life. As long as you aren't eating bonbons while living off someone else's tax dollars no one should really care. So you hire a housekeeper? Who cares? So do I. In the summers I go to the beach every day with my kids and in the winter sometimes I read a book all afternoon! So what? I do lots of other stuff too...but even if I didn't if I'm happy, if my family is happy, and we're not a drag on society why does it even matter?
This issue is about you finding fulfillment in being at home. If you do then great, stop being ashamed of not being uber successful. If you don't, go back to work. Both are excellent options but being dissatisfied with your life because of what other people think is just silly.