OP you're not taking on board what people are saying to you here. The Freedom Programme is for women in your situation.Women who have perhaps, never experienced anything other than abuse in their lives so it's normal for them. It teaches the survivor the difference between healthy and unhealthy relationships and red flags to look out for. It's a life saver. Women's Aid/Pat Craven deserve an OBE for the help and support this programme has provided.
Your relationship is way beyond counselling. He's a rapist and deserves to be in jail.I hope he's jailed for the rest of his life so he can't harm another human being. He's a low life OP.
You have a disconnect between what's going on in your head and what's happening in reality and in the meantime your children are being affected by this; they're having nightmares. They will continue the cycle because they simply won't know any different, just like you. Do you want that for them? The loving thing to do is remove them from the situation, not keep them in it. I wouldn't want my children near a rapist and I wouldn't want them to witness sexual assault and abuse.
The only way through this is out the other side. You can't have counselling with him. Abusers tend to manipulate couple's counselling, they charm the therapist and turn the therapy against their victim. If they have individual therapy they use that against the victim as well, getting her to run around in circles chasing their own tails because the therapist said so. It's all lies.
Someone who loves and cares about you doesn't rape you. It shouldn't be considered a sign of a loving man that he stops raping you when you ask. He shouldn't be raping you in the first place, I can't believe you need that spelling out. How would you feel if your daughter was being regularly raped? What would you advise her to do? Would you tell her that he's a great man, a great father and she's lucky to have him?