Women's Aid: 0808 2000 247
They can help you with the practical stuff of planning to leave and staying safe until then, and when you do leave.
Do not tell him you're going to leave, do not tell him you're thinking of leaving, do not tell him when you actually leave.
Leave without warning when he is not home. Leave a note telling him you've left but do not tell him where you've gone. Ever.
Freedom Programme can help you with understanding how he manipulated and entrapped you in this situation, and will help you understand his behaviour.
Www.freedomprogramme.co.uk - it's free if you go to the group course, it's confidential, nobody will know you've attended, nobody will judge you. They just want to give you all the information they have to share with you so you can be the one in charge of your own life again.
He knows he's abusing you, he knows the impact it has on you - that is what he wants to achieve. He wants you broken, frightened, and submissive so that he has total control of you. He feels entitled to behave like this. Talking to him would only make him escalate his behaviour because he would feel like he was losing control of you if you felt confident enough to challenge him.
All of this is about power and control. That's why he makes all the "jokes" about violence and only used violence the once - because it's kept you in line. You're afraid he'll do it again, you know he's capable of it, so you comply with him to avoid it.
Take all the support you can from WA, FP, your GP, any service that can help you. They just want to support you.
Leaving isn't easy, no, but as someone on the other side of it who used to feel so confused and asked herself the same questions you're asking, life can and does get so much better once you're away from them and have had the chance to start healing.
Keep going. You will get there, even if it takes you a bit of time.