Only read a couple of pages, but lots resonates.. I also for ages used to refer to my dad as father. He was/is an aggressive, alcoholic control freak who for years was verbally and emotionally abusive to me, DSIS and my mother. Used to hit too, but in the punishment sense so 'just' when we were being naughty.. Never hit my mother so I think that was how he justified things to himself.. that was the line he didn't cross.. Swearing, shouting and throwing things all okay though 
A couple of things that particularly stand out in my mind:
- Year 7 I used to ask him for help with my maths homework.. when I didn't understand he used to get angry.. I soon stopped asking for help!!
- Being 'late' when we were going out and by that I mean about two minutes, used to drive him crazy.
- When my sister first started dating as a teenager and she and the boy were upstairs, he used to shout up at her that she was a f*ing slag.
- He used to listen to a radio show on Sat nights when he was drinking and turn the volume progressively up until it was blaring out.. I used to go down and ask him to turn it down so I could sleep but he just laughed in my face and turned it up even louder. I used to wait until he'd passed out about 1am before turning it back down.
To be honest, I think I've blocked a lot out..
My mum was very passive, often used to hide away in the locked toilet when he was shouting. I remember crying at the door and begging her to open it
We used to ask her to leave him and she sometimes said she would but obviously never did.
She also used to drink a lot too.. I remember once on NYE when my sister was about 14.. my sister had drunk a lot of vodka and been sick in her room.. my parents were passed out drunk down stairs
I remember waking my mum up and being so so cross with her. Whenever my mum had passed out from drinking she always used to say she had fallen asleep because she was so tired!!
As things stand now, I distanced myself a lot from them as I got older.. I moved out properly after uni into a shared house with strangers.. I drank A LOT myself for those few years until I met my now DH and now barely drink. I had zero self esteem growing up but I slowly got more confident as I got older (and even more so when I discovered running). My DH is the complete opposite of my father.. so chilled out but I fear I often shadow my father's behaviour.. I do sometimes find myself getting so angry with him sometimes.. we have two small DC now and I am so aware that I do not want to be like my father!!
My mum is now 70 and has had dementia for about 8 years.. my father was her carer for a while though she is now in a home after neighbours called the police for a domestic disturbance.
I've seen my mum a couple of times since she moved into the home but not seen my dad for nearly a year.
To be honest, I'm not really sure how to proceed now. I feel so sorry for my mum (and apart from not really being strong enough to protect us, she was a very loving and maternal person), but at the same time, rightly or wrongly, part of me also blames her. (And in a way also for the dementia as at least part of it is likely to be caused by alcohol). And my sister I think often minimises what happened so is a bit annoyed with my distance from my parents/not seeing them etc. Despite knowing what my dad is like (and even when my mum was going downhill) used to use them for childcare whilst she worked!
I think part of the mind f* for me is that outwardly my dad was completely the charmer.. even when I told eg my DH and MIL what he was like, they didn't really get it (though now my DH understands). I think my MIL in particular thinks I'm somewhat cold for not seeing my mum more, especially because of her illness. I don't know, maybe I am.
Sorry, that was a complete mind dump!! I haven't had counselling - I think perhaps it would be helpful!