Physical & Emotional Abuse Support Group
Abuse is a general term for the treatment of someone that causes some kind of harm (to the abused person, to the abusers themselves, or to someone else) that is unlawful or wrongful. No one deserves abuse, period. Abuse can be emotional, physical, or sexual.

I am a little confused as to whether you are with him now or not. But it's never too late to go. Let people think what they will...just take care of yourself and the kids.
First you need to document everything. If you have a journal, that is a huge help. Copy bank statements, any financial documents you can lay your hands on, and get them to a safe place. Make yourself a safe secure exit plan. Don't get overwhelmed by the fact it may take time, it took me years....but I did it, you can do it too. And your kids will thank you....
Hugs, and Godspeed on this journey.