Because of how my father was im now a very timid person, I feel like no one likes me and I'm always apologising for things when I didn't even do anything wrong. It's because of how he was with me growing up, he told me on many occasions I am useless like my mother, it was like walking on eggshells and although I'm not in that situation anymore I still have that little voice inside me telling me I'm not good enough. If i hear someone shout loud my heart stops for a moment and I'm taken straight back to my childhood. (He used to shout a lot at my mum) I wish I had a switch where I could switch these feelings off and be a normal person. I just want to be happy
You grew up in a very abusive household, OP, from this and your later posts. Even in abusive households there can be love and warmth at times, for example from your mum, even if it's highly flawed. It means things aren't clear cut, and the messy situation makes it all harder to navigate.
I had the feeling that you suffer a fair bit from First Child Syndrome here, in among the very difficult home environment. They expected more of you and when you were a normal child and couldn't be perfect, they started to see you as flawed. You weren't. You were a normal child, and they just don't come in the Perfect variety. On top of that, your father is/was very abusive and sometimes an abusive parent loads all their problems onto one child in the family and not others. Lucky you.
Im afraid there is no magic wand to turn off all the shit that your experiences have created within yourself. The only way is through it on an upwards path, hard as it is. Sorry.
If your parents are unable to be flexible and listen to your (quite necessary!) demand that they treat you with respect, then one way of handling things is to quietly and unobtrusively withdraw. Simply be around less. Contact them less; only see them at big occasions at first. There are ways of handling this that makes it easier and avoids big confrontations.
Like others, I think that if your parents treat you without respect then your children -will- see that, and it's no good thing at all.
Treat yoruself gently here, laura. You need support, time and yes, friends. Any chance of joining a club that meets at weekends? it's great if your husband is supportive and can look after the children then.