I need help and don’t know how to ask.

How do I get out of a toxic relationship that I’ve been in for 4 years?

He constantly forces sex on me, constantly gaslights me, tells me I can’t work because I have to take care of our son (which is fine) but then says he does all the work and never gets what he wants ever. He says everything is always my fault. Hes strong and will grab me sometimes and leave marks when he’s angry but he doesn’t hit me unless it’s “okay fighting” or sexual which I hate both. He does so many sexual gestures on me in front of people and tells me it’s a huge turn on for him even when I tell him to stop. I tell him I don’t like kissing him so he will leave me alone but it just pisses him off more and he gets even more handsy and aggressive. He yells at me all the time for dumb things. He is mentally and emotionally draining. I thought I wanted to marry him but I think he just has me in his control and I have no way out. His family thinks I’m crazy. My family doesn’t believe me. I’m so afraid to leave but I’m also afraid to stay because I don’t want to keep thinking about suicide for my sons sake. I need help.