Kari
I'm very sorry for what has happened to you. I'm glad you were able to go to counselling with your father and that he was able to realize how he hurt you, and how he took steps to restore your relationship and gain your forgiveness. I'm proud of you for being able to forgive him - not too many people can do that - yes, you are remarkable.
You've done so much for yourself and your son to help break the cycle of abuse in your family. There's one more step to take: you need to feel that you are worthy of being treated with the respect you deserve as a human being. You need to give yourself permission to escape abuse.
Let me switch the word abuse with another equally ugly one: slavery. Do you think anyone who was ever a slave felt that it was a situation that they could 'never escape' from? All it took was for one person to stand up and declare themselves deserving of and entitled to freedom instead of slavery. The idea spread, and the more people who believed in the equality of all persons, the more people dared to stand up for their own right to be free.
You have to believe that you deserve better in order to expect better. Believe in yourself and your right to be treated properly, my dear, that is the most important thing you can teach yourself.