How do I get out of this?

So I'm in a very emotionally abusive relationship. He's allowed to threaten suicide, act like a child, not have a job, not do anything but drink all day and hang out with his friends, and have sex with me whenever he wants. But when I'm having a bad day and don't want to be directly up his ass, I'm a child and I'm a piece of shit. I'm a bad mom. I don't do anything for our daughter or his other 2 from a previous relationship.

I'm tired of feeling like everything is my fault. And I know I'm a dumbass for staying with him. I'm not asking for sympathy. All I'm asking is for some advice on how I could leave. Like what helped you work up the courage if you've been in a similar situation