What's right is that you get away from this man who has NO RESPECT FOR YOU. He is ABUSIVE. He sexually abuses you (that is what it is Chickencuddles, it's not pushing his luck or trying it on, he gropes you and he harrasses you). He shouts at your children. He creates an atmosphere of control and darkness.
You need to realise something, which is that women dont always leave men because their men are battering or raping them. Women leave men all the time because they just dont feel happy in the relationship anymore. That's all. People leave relationships all the time. It's called life.
You are not happy in this relationship, and to top it all off, he is ABUSIVE and you are disempowered. If you hang around another 15 years, you will be a shell of a woman, your daughter will be cowed in her relationships and will have learnt to be submissive, and your son will have become a controlling, abusive man.
Just ask yourself, what you have now: would you be happy for your daughter, if she had the same? No you would not.
A door has opened for you. Its going to be scary and unnerving to walk through it but you wont regret it. You really wont.
Leave the animals with him, and go to that refuge. Instead of feeling fear, feel uplifted that a new chapter is starting for you.
You can do this and you are worth so much more than this. Familiarity is not love.