Well, one issue is that he's touching you when you ask him not to.

But am I the only one noticing her comments about prior physical abuse from him?

That stands out to me, especially when combined with his inappropriate touching. He doesn't respect your body, your boundaries - YOU!

Why are you still with him if he treats you like this? My guess is you have children and don't want a custody battle. But is this how you want them to see you treated?

Divorce would do less harm to your children than growing up in a household like this.

Find a low-cost attorney, and get out. Now.