Advice please!?!?!

My brother in law hates me and told my husband that if we tell anyone the things he has said about us or make him upset that he will call cps on us and try to take our kids away to hurt us, he said a year ago he took a video of my house being messy and he will show it to cps and tell them we are not good parents, can I report him to the police or something this guy has been harassing me especially since I have met him he has even gotten in my face before, now he threatening to want to call cps to take my kids to hurt me I can't anymore, I'm not afraid of cps I can show them I am a fit parent I have nothing to hid but I'm getting scared of the threats he is saying now he has insulted me in many ways but now is trying to hurt me with my kids what do I do!?!?!?