The reunion for them did feel a bit rushed in, but the episode was packed with so many scenes and information, that I wasn’t surprised at all by it. But overall, I thought it was sweet and in character for the both of them. Belle didn’t seem to be someone who holds grudges–though I wouldn’t have blamed her.
As for Rumpelstiltskin bringing in magic, I think it’s for several reasons.
1). To help him look for Baelfire. That one being the obvious reason.
2). For his own protection. He’s in just as much trouble as Regina, and with good reason.
3). Keep Belle safe. Now that he’s found her, he’s certainly not going to want to let her go. And he’s probably going to do all that he can to keep Regina away from her.