From your description, it sounds like you have regular part-time four weheel drive, as well as a limited slip differential in the rear. The former means that you should not be in either high or low 4WD on the pavement, cause your tires need to slip a little in 4WD. The latter means that you'll do a little better offroad than you would if you had an open rear differential.

Even if your husband is with you, I still would not advise going off-road in a single vehicle, unless it's an emergency. I've been driving 4WD vehicles offroad over 50 years (since 1954), and in all types of terrain, and I won't go out alone. You can sometimes get yourself so stuck (which is part of the fun of four wheeling) that you just can't get yourself out, but all it takes is a little tug from another vehicle to get you going. If that other vehicle isn't there, it means that you have to walk out (a trek in itself sometimes), hope that nobody messes with your vehicle, and try to get someone else to bring their vehicle out to help you. If that someone else is a professional, it will cost you hundreds of dollars.

If you don't know anyone in the area that goes off-road, that means that it's time for you to start looking into joining a club.

Start off by contacting United Four Wheel Drive Associations. They will tell you how to contact the state organization in your state. Then contact them, and they will give you the names and contact information of the individual clubs in your geographic area. There is usually a lot of them, and you can contact and visit them to see which one fits you best. Some have mainly old folks, some young folks, some a mixture, some a bunch of daredevils, and some are family-oriented clubs. But get involved with one. Most clubs are more than happy to have you ride with them a few times before you commit to joining. In fact, soime clubs require that.

Good luck, be safe, and have fun off road!