I think that you have made the best decision ever.I was once in an physically abusive relationship. My life has been so, so much better without him, and yours will be too. Someone who is abusive needs a lot of help, and until they realize they need help, there is not much anyone can do. Your kids are going to love you even more for leaving him. Once you get settled a little bit, go to the child support agency, and start getting money from him. They can take it out of his pay check before you even go to court. If you haven't worked in a while, you can also get spousal support from him. You are going to be fine. Everything will fall into place.

You have already did the hard part, so if you need to stop and rest, then do so.