I dont know what to do

My ex and I broke up a couple of months ago (he spit in my face and called me names and didn't contribute to our household). I begged him for our entire relationship (3yrs) to be better and do better but he never did, not until I left him. He has gotten help and he has told me he has changed and he keeps asking me to come back to him and that he will treat me better and that he will be the rock and he knows what he did was wrong and that he didn't treat me right. Everytime we talk he asks me to come back and I feel so bad for telling him that I can't right now. Also, I feel like if I did go back my sister and my mother would judge the hell out of me. I don't know what to do and I don't know what I want. If any of you were in my position what do you think you would do?