When to give up

When you and your husband can't get along and all he does is accuse you of cheating when you go out with friends. He's always bringing you down and all you do is sit there and take it in. All your friends tell You to leave him but deep down you believe he will change. In the past he was abusive and isn't anymore. He just makes you feel like your reason he's always up set and you argue. When is it time to tell him you want out but is too afraid to tell him. Or should you try to make it work and go to counseling