I went through this for 5 years with my children's father as well. I told him over and over I wanted to leave after I realized I was in an abusive relationship.. I called the women's shelter who connected me to a domestic violence counselor and she helped me every step of the way.
I called victim services and told them about the situation. They asked me a few questions and realized my danger evaluation was through the roof. They came to my house, took me and my children to the station and I made a statement. They put an emergency protection order in place and removed him from my home. It was hard emotionally, I didn't think I would ever get through it. But I'm here, stronger than ever.
He wasn't allowed to come near the house and it allowed me to continue on with life working and living in peace. Start with a domestic violence call to a centre and they will help you look for the resources you need... there are more than you think.

I will say, it's not over between us. The manipulation and stalking still happens, but I feel in control that he isn't in the house terrorizing me everyday.

Good luck. Feel free to PM me anytime you have any questions