Since there's no contract or employment agreement and this seems to be an oral engagement, you don't have to follow any legal procedures to terminate the oral employment.
As a matter of fact, the harassment by the male domestic help to his family members is his personal affairs which you cannot interfere nor you are not obligated to protect his wife and daughter from his cruel clutches.
If at all she faces any problem she can approach legal forum and you can guide her if she approaches you for any assistance in this regard.
You can call him and strictly inform him that since his behaviour and the nuisance he creates is intolerable, ask him to leave, you can settle his dues before he leaves.
You can avoid getting into legal trouble in the name of helping his wife or his daughter, because if he lodges a false criminal complaint against you for harassing or threatening him and his family members, you may have to face unnecessary problems, though you may solve them properly but it may take time.
Therefore you may better try to solve it amicably and become free of him.
If he threatens or intimidate you then you can approach police or a local lawyer for initiating appropriate legal action.