I don't know anything about Filipino law. I just looked up the law in Michigan in the United States.
First, under Michigan law, it doesn't sound like you are guilty of "trespassing". Trespassing in Michigan is when you enter someone else's property after they have told you that you are not permitted, or if you refuse to leave when ordered. In practice, trespassing is mainly about being on someone else's yard or porch, not inside the house. It's not a crime to walk up to someone's front door and knock, or to chase a ball or a stray dog onto someone else's property. It's not a crime until they tell you to leave and you refuse to go. So unless Mario told you to leave and you didn't, there's no trespassing.
Second, what's really relevant is "breaking and entering". Interestingly enough, under Michigan law to be guilty of breaking and entering you must not just enter another person's house, but do so with intent to rob the place or assault someone. The fact that your son threatened Mario would work against you here. If that part hadn't happened, I think you could argue there was no intent to rob or assault: you were trying to protect your daughter.
I wasn't there when they wrote this law, but I think I see the reasoning. Suppose you see that your neighbor's house is on fire, and so you rush in to rescue their baby from being burned to death. No one in his right mind would say that was a crime. Or if a small child or a mentally ill person blunders into someone else's house. Etc.
I think your case is arguably similar to the fire: Your goal wasn't to rob the house, but to rescue your daughter.
Again, I don't know Filipino law, but were it not for the threat, I think you'd have a pretty good defense. Even with the threat, I think most courts would overlook that.
Again, by Michigan law, 16 is old enough to consent to sexual activity, with some exceptions. Like, a teacher or a boss cannot legally have sex with someone under their authority. But I don't think any of the exceptions apply here, so Mario isn't breaking the law. Unless he was using force against her, you can't claim to have been protecting her from a crime.