Dreamin - Your post really got to me because I totally relate to what you & your DH are going through. I hope you don't mind me sharing my experience.
I'm not a mortgage person - and I'm not a finance person either. I've never been a money guru. I'm just a computer geek who crochets in her free time. And I have a cat. And here's a low-tech solution that helped me. For free.
Backstory: I got a mortgage in 2003, which would have matured in 2033, which would have made me 64 years old. That would have given me a whole stinkin' year to save for retirement. :no: In 2011, 8 years into my mortgage, I calculated how much I had paid in interest versus principal and I was literally sick to my stomach.
I did a little research in 2011, and that offhand research has me now scheduled to pay off my mortgage by mid 2016 - a full 17 years early. It's actually easy (remember, I'm not so smart about this money thing, so if I can figure it out, anyone can...). Also, I didn't start this "program" until my 8th year into my mortgage. I am a pretty frugal gal, do not have kids, and have had some bumps in my salary since I started my loan. Your mileage may vary.
Here's what I do: I calculate what my mortgage payment breakdown is each and every month - that is, how much of my monthly payment is going to principal versus escrow / interest. Then as often as I can, I send the bank that amount. Remember, your principal amount changes as your loan matures. Don't be afraid to use your tax returns either if you can - if you stuff them in a bank, they don't even make 1%...might as well put them towards your 5% loan.
IMPORTANT NOTE: Before you send anything, check with your mortgage company to ensure that your loan allows for additional payments. Some may not let you do this, or only let you do this a few times a year, or charge you fees every time you send them additional payments. If that's the case, take the additional money and put it in a separate savings / CD account until you can pay the house off in one lump sum.
For example - if I pay $1000/month, and $300 is applied to my loan principal, I send $300 to the bank. Every time I send a "principal payment", I shave off a month off the back of my mortgage. And...I'm not paying one cent in interest on those "shaved off" months either. Because I'm paying down the balance faster, my interest fees also go down every month. Essentially, you're paying an extra month, but without the escrow & interest. Even if you can only do this a few times a year, it will help!
At first, it didn't seem like a lot, but it adds up. While this seems like common sense to most people, it certainly was news to me. I'm kicking myself that I didn't do this from the get-go! I found out later that financial advisor Dave Ramsay advocates this method of paying down a house. I'm not a religious person, so he wasn't even on my radar, but it was a nice validation.
I mean no slight to anyone here who works in banking, but I think that mortgages are nothing but a corporate shell game, and I don't think it's right that people are required to pay 3x the cost of a home to own it. On the plus side, I know I'm doing the right thing, because I keep getting nastygrams from my mortgage company wanting me to take all that money I am sending to them, in order to "invest" in their products.

Sorry, I'd rather pay my house off.