Welcome to our Forum and thanks for your questions.  There is a lot of misinformation about HPV around and understanding of this widespread infection is uncommon, even among health care professionals.  I'll be glad to comment. 

As your experience years ago showed, HPV is widespread- about 80% of sexually active persons will be infected.  In the vast majority of cases, the immune system controls the infection, making the infection no longer detectable and preventing progression to cancer (which occurs in less than 1% of infections).  As recently as 5 or 10 years ago, it was widely believed that when HPV became non-detectable the body had eliminated the virus.  More recent data however now show that the virus remains present and from time to time transiently reactivates enough that it can be detected at the time of recommended regular testing, just as your doctor has suggested.  This is not a reason for concern and the fact that you had a positive test is not a reason for concern and certainly not a reason for shame.  From the sound of things, your doctor is well informed.  Your risk for cancer is low.  I would suggest you simply continue to have regular screening and please don't worry about cancer.  The regular check ups that detected this likely transient reactivation will keep you safe.   

I hope that information is helpful.  EWH