Welcome to the STD forum.
Questions and concerns about HPV are among the most common and confusing dilemmas in the STD field these days. Here are some salient facts pertinent to your situation:
Everybody gets genital HPV (at least 80% of all sexually active people) and most of us probably have several infections during our sexually active years. Having genital HPV should be viewed as a normal and expected fact of human sexuality. The high risk (cancer causing) HPV types are the most common of all infections. Still, the large majority of infections clear up without ever causing symptoms or disease. Your wife's infection may have been present for years before her pap became abnormal. You were obviously exposed to her infection, maybe even the source of it (you're never going to know); but if you had been infected with the same type previously, you probably are immune and didn't get infected. Or you did get infected and it will never cause a problem, and either has gone away or will soon. This, too, you will never know. Most HPV infections clear up, without ever causing symptoms, within 2 years, often faster.
Future sex partners are at no more risk for HPV because of your history than if you never had it, and at no more risk if your wife's pap smear had never been abnormal. Those potential partners, just like any other sexually active person, might have already been infected; and if not and they catch HPV, most likely they won't know it, and if they happen to be among the unlucky minority who get an abnormal pap smear, they will never be able to know (and neither will you) whether it came from you or someone else.
In other words, there isn't much to be done. HPV, including infection with high risk types, is unavoidable for practical purposes, except through immunization (more on which below). It is for this reason that CDC does not recommend that partners of women with abnormal paps be referred to health care for evaluation. In fact, CDC specifically says that should not be done, because there are no useful diagnostic tests and nothing to be done to prevent future problems, prevention, etc.
For these reasons, most experts agree you are under no ethical obligation to mention your wife's abnormal pap or HPV to your future sex partner(s). If you do so, it should not be for reasons of disease prevention, but perhaps only in the interest of an open and honest relationship.
As for your family history and your health, there are no worries here either. To my knowledge, ghere is no evidence of any genetic predisposition to HPV-related cancers. Second, penile and other genital area cancers are extremely rare in men, even those who have had HPV. And although penile cancer sounds frightening, it is a very slowly progressive problem. Medical care if and when penile skin lesions appear is always easily curative, if cancer is the cause, without drastic measures (like penile amputation).
Finally, all sexually active people under age 26 (and perhaps older -- the jury is still out) ought to be immunized against HPV, preferably with Gardasil -- one of 2 HPV vaccines on the market, but the only one that covers not only the 2 HPV types most likely to cause cervical cancer and precancerous pap abnormalities, but also the 2 types that cause most genital warts. If your future partner(s) have been vaccinated, most likely they will be protected against the type that you may or may not be carrying.
Here are three other threads that discuss some of these issues in still more detail. Please take a look at them.
http://www.medhelp.org/posts/STDs/concerned/show/980849
http://www.medhelp.org/posts/STDs/HPV-Transmission/show/761416
http://www.medhelp.org/posts/STDs/HPV--Informing-past-partners/show/763292