Just in case it's not been shouted loudly enough..
DON'T ATTEND COUNSELLING WITH AN ABUSER!
It makes them worse, and they can manipulate an unskilled counsellor to working AGAINST you.
It's done, it's dusted. He CHOSE to mis-treat you. he could stop anytime, he won't though.
There really IS no salvation, not without IMMENSE sacrifices on his part, i.e he has to lose every molecule of support from all quarters, friends, family etc to then perhaps think he may have to entertain modifying his behaviour. It's pretty near to impossible. Lundy explains it better. Read and learn. Power and Control (how charming men make dangerous lovers) is also great.
Personally, if My ex of 10 years came back swearing he'd changed, I wouldn't believe him. It would take at least 10 years for him to prove to me that he has changed and who has that amount of time to waste on someone who has torn you to shreds in the past?
Once you are out of this, you WILL need counselling, but wait until you are on the light side. We'll be here for you every step of the way, so lean away, ask away and let us know what you need to get away from this man.
Your children will do better without this man in their day to day lives, at the moment they are witnessing the judgemental venom being spat all over you. They could grow up thinking this is normal. I applaud you for making it work this far. But you can't make him be nice to you.
Stay focussed, stay strong and don't be dissuaded from leaving him. No matter what gets thrown at you, you have to get out.