how can i walk away

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i`ve been with this man for almost 6 years,we have a son together.the problem is he has no respect for me, talks to me like im his child.im not happy.but i want to be .he say i`m not taking his child anywhere.i know i need to be strong but im scared. he has hit me in past. i have left in the past.but he always finds us. Help we need a new life.