I never expected my mother to take me back

Hi guys. I have a pretty positive update from my last post. My last post I talked about my wife. She was 20 and a teachers assistant when we first met. I was 14 nearly 15 and we texted a lot outside of school and developed romantic feelings for each other. We DID NOT have sex until I was 18. We did kiss and talk sexually but we did not have sex. My mom found out a few years later about our "relationship". I was 18.m when she found out how long it had been going on. She threatened to call the police, I said I would say it wasn't true. We had a big fight, and I left. I completely broke her heart. I moved in with her and we got married a few days later. I haven't spoken to my mom in nearly 7 years. My marriage has been miserable. My wife isolated me from everyone. She has pulled a knife on me. When I wanted to try to contact my mom 4 years ago she wouldn't let me and started tracking everywhere I went. She tracked me on life360. She spent our whole relationship telling me nobody loves me but her.. That my mom doesn't love me and she is the only one who will ever love me.. We ended up have two kids together through a sperm donor. Biologically they are hers, but I legally adopted them both and I'm on both of their birth certificates as the second mom. Things got really bad one day when our 3 year old daughter spilled her drink and my wife grabbed her really hard by her arm really hard and I could see how much it hurt her. I told her not to do that she started yelling at me and then at our kids. I packed our kids in the car and tried to leave but she stood behind the car. She refused to let me leave. So I drove through our lawn. She then through a brick and it shatter the back window. Our kids could have gotten seriously hurt. I ended up at a motel and had deleted life360. I didn't know who I could turn to because she made me push everyone out of my life. I hadn't spoken to my mom in nearly 7 years and when I left like that I broke her heart. But a lot of you told me to call her. I had to find some family on Facebook to track down her number. I eventually got it. I called. No answer. Left a voice mail. My second night at the motel I got a call from the number and when I answered the first thing she said was my name... I just started crying and she asked was I okay and I told her no. I told her very briefly the situation and I can't really drive my car because the back window is smashed. I did tell her I have two kids. She told me she was coming to get me. I really didn't understand. We don't talk in 7 years and she's ready to come get me and grandchildren shes never met? She drove 2 hours to get me. We didn't really talk in the car. When we got to her house the kids took a nap in the guestroom and she asked again what all happen. I caught her up on the last 7 years. We must have talked for 2 hours. She said there was something she needed me to understand. I asked what and she said that the reason she was so upset had nothing with me liking girls. That it didn't matter to her. It was the person I was with and my mom saying she groomed me. She also said it hurt watching your child make a mistake and not being able to do anything, but that she will be there for me no matter what. I cried so much and hugged her. Shes helping me look into getting a lawyer and collecting evidence so I can have custody of the kids. She loves her grandchildren. I honestly never expected her to take me back so quickly after 7 years. Thank you guys for encouraging me to contact her. Just wanted to let you know we are all okay❤