Do not under any circumstances go to Relate with this abusive man. Couples counselling is never recommended where there is abusive behaviour within the relationship.
I would also recommend reading "Why does he do that?" by Lundy Bancroft and enrolling yourself onto Womens Aid Freedom Programme.
This man also deliberately targeted you as well. Such really inadequate men see strong women as a challenge and someone to punish and bring down to their level. Such men too hate women, all of them.
This man as completely let you down here; its not the other way around at all.
Your own brother's advice to you should be roundly ignored. Apart from being crap advice, it was dangerous advice as well. He should really be ashamed of himself. You cannot work on a relationship if there is an abuser within it.
He has put you in a hole and the only way out is to get this person out of your life permanently. You do not want your DD growing up thinking this is really how men treat women.
And no, such men never change. He will further up the power and control antes against you and that has already happened over the years too.
You do not want another five years of this, he will only be completely happy when you are completely cowered under his control and then feel completely unable to leave. You know his treatment of you is wrong on all levels.