I finally told him to leave...

Back story-I've been emotionally and physically abused since I was pregnant with my daughter she's now 4months.My two older kids 8 & 7 and my grandma has also witnessed abuse which was the worst that happened.We stayed in a hotel for a couple days so my family wouldn't see the bruises on me.he told his dad what he was doing and his dad talked to him about how wrong it is but he still done it.I thought he would change then when I started to not believe that he brought God into it then when that stopped working he started crying and I finally stopped feeling sorry for him...

Last night I picked him up from work he seemed to be in a good mood, we switched when we were leaving I went to reach for the AUX cord that fell and when I was doing that he is pushed on the breaks and I almost hit the dash because I haven't put my seatbelt on which he knew.I got mad and told him I almost hit myself and he laughed and said it was my fault (which I thought was odd how his behavior was) everything was fine till we got home the kids got ready for bed but before my Boyfriend got off work we agreed I'd make homemade hot chocolate before the kids went to bed.My son 7 was half asleep and my Boyfriend thought it was funny to start teasing him saying put his PJs on and go to bed.my son response was I thought we were having no hot cocoa and my boyfriend said no get to bed now and my son started crying and went to bed and my boyfriend says what are you doing aren't you going to have hot chocolate or not and my son is still crying and didn't respond.my boyfriend says laughing you either stop crying and get down or go straight to bed.I got upset and told him to knock it off it's not funny...I'm not in the mood to make hot chocolate anymore because his attitude and the way he's acting and I don't want the kids to see it because I know he's picking for a fight.and I'm holding the baby because she was crying and he says aren't you going to make the hot chocolate or not!? I say no and he gets mad and asks why I say I don't feel like it anymore because his attitude and he tells me I'm too sensitive I can't take a joke and I told him a joke is only funny for so long and up to a certain point and I walked off to use the bathroom...when I came back he was holding our daughter and he says if I'm eating I said no I'm going to bed and he pushed me a couple times saying I'm starting this and I better not push him and I said he's the one doing it as his attitude ain't helping and he slapped me a couple times well holding my daughter and he says I'm pushing it with him he grabs my arm and twists it and says I do this to myself and I said no I don't it's not my fault he can't control his temper he lets go and I lay down he says I need to listen to him and do what he says I just ignore it and go to bed he wakes me up and asks me if I'm okay and to read the Bible and pray I said no I don't feel like it and he gets mad says yes we are and drags me to the end of the bed and says if I don't listen he will beat my face in and the kids won't even recognize me.and then he says sorry he didn't mean it and I go back to sleep and he wakes me back up and he says if we're over or not I said yes I'm done and he jumped up and packed some stuff to leave...Today he's coming back for the rest of his stuff...

Update:

I just got home from the Police department they said there going to charge him with domestic and battery...I feel so sad and guilty like it's my fault...I'm sitting here feeding my daughter telling her I'm sorry but I had to...

We talked about marriage and another baby not to long ago now it's over and idk what to do...my kids keep asking where daddy is and I just keep saying he left...