ABUSIVE RELATIONSHIP. HELP.

so, 3 years ago, I met this man. Thought he was so sweet, charming, amazing. Little did I know, a year from then would be a complete different story. Not only were we together a little over a year, moved in together, and I WAS PREGNANT with his child. He choked me and held a pistol to my head, continuously told me to get an abortion. TWO WEEKS after I had my baby, my step daughter had a friend over and that’s the first time he punched me. Multiple times. The only time he does this, still till this day, he’s been drunk. When he gets drunk, he’s a completely different person. An abusive asshole. He calls his children name after name, tonight takes the cake and now I realize I’ve been so stupid this entire time to believe his bullshit lies/broken promises. I just bought a new bed frame, he comes home drunk cussing me and the kids, insulting me calling me a fat ugly stupid bitch, calling me a whore. Well anyway, he takes the bed frame and tries to hit me with it, I manage to get it out of his hands and on the floor, well he shoves me I fall into it I get up and he shoves me again, so I shove him back and tell him to leave me the hell alone. Well he pushes me down to where I’m on the couch, rage in his eyes at this point I’m terrified. His daughter started screaming, crying her head off, he charges after her & says he’s going to kill her. And so on. He’s now passed out asleep. His kids (I’ve been raising them the past 2 years) are out here talking to me now, my baby is sound asleep (thank god) I feel so bad because these kids just witnessed everything. I don’t know what I’m supposed to do. I live under his roof, I drive a vehicle in HIS name, I work a minimum wage job. I have a baby, and I cant leave these 2 precious children here with this psycho. Please someone give me the steps on what I should do, because I have no idea. PLEASE HELP. The only place I could even go is my parents couch. I don’t know what to do, I feel like there is no way out...😢