First of all, get yourselves tested for AIDS and get vaccinated for Hepatitis B if you haven't already been vaccinated. Then you know you're safe to use other methods without condoms. However, this does depend on both of you being faithful to each other.
If you're sure about yourself and your partner, you can stop using condoms and choose a different type of contraception - but make sure you commit to using condoms if you have sex with anyone else, for both your sakes.
You could opt for the Pill if it agrees with you, or try the patch, ring or implant.