How to go about parental legal stuff without lawyer?

My daughters father is abusive towards me, not everyday but he’s angry about something everyday. She 19 months old and I don’t want to keep her from him. If I don’t have a lawyer nor could I afford one. How do I go about doing this? I’ve been with him 10 years and I’m tired. In tired of the anger the disrespect towards me and his daughter. She doesn’t deserve this