How do I leave an abusive situation

I've never talked about this it's private my father has a bad mouth he's always careless in his words, I met someone in highschool he had a job, he had a car and I saw it as my way out I got in a relationship with him and it was my escape my dad was mad he lost his control over me and I left I lived with my boyfriend but then he had control over me and so I'm trying to start over. I'm living with my dad and he's trying to control me he's trying to scare me or something he yells at me and is really macho and I give up I need to leave how can I leave?

Number one is I don't drive, Number two I don't know how to drive in snow and it's going to snow soon and I don't have experience driving at all Number three I don't have a job but I have $1,000 from the stimulus check saved. I have a child because of my low self esteem I don't have a job I don't work, I don't drive I had my child in preschool but because I didn't know how to drive I couldn't get to work so it's been hectic I feel like a bum I'm here with my parents my dad wants to kick me out but take my son from me feels like he gets a fresh start or something like he did a bad job raising all his kids and I don't know what to do I'm scared I don't know what to do where to live what to do about it all .

I'm a single parent I live in USA how do I leave my dad wants me gone since yesterday but he wants my child so how do I leave safely with my child where can we live I don't really have anywhere to go my child I have him in homeschooling I ask my parents to drive me to the library and I use those resources to homeschool. He was arrested for trying to have sex with a prostitute but she was a police officer and he was given the choice to work undercover for the police he's a confidential informant and he's threatening me that if I leave with my kid he'll have me arrested make up lie that I'm not safe to be around and I don't know how to get out of this safely but I'm done I want to get out away please share with me how I can disappear leave what plans do I need to make to get out. My dad is interested in child because he gets stimulus checks from the government for declaring and he gets $3,000 for taxes child dependent and he's interested in the money from having a child around I want to leave

I don't know what to do I need to learn how to drive, I need a car, I need to find a place to live for me and child, I need a stable job, I need to look for elementary and how can I get help to do all of this I'm done with being told that I can't look my dad in his eyes otherwise he feels like I'm challenging him intimidating him and he gets aggressive he looks like he wants to kill me how do I get my child and escape out of this situation