Husband/father mental torture on wife/kid

My father has been mentally and emotionally torturing my mother since the early days of their marriage. It has been almost 29 years of their marriage. My mother wanted to leave him, but she decided to adjust and compromise on certain matters but she was mainly just tolerating his cruelty, and then she got carried away with having my older brother and then myself, and she did not want the divorce to be a bad affect on both of us. My older brother passed away a few years back at the age of 29, and since then the problems between my parents have increased. There's a fair share of blame game, and constraints with finance as well. I am a 24 year old woman and I have never been attached to my father for obvious reasons. But off late, after moving in with my parents after a while, I have been receiving mental torture from him as well. And I don't believe it needs to be tolerated anymore. I would really like to know what are the options to consider, and what are the steps that can be taken to make the situation better. Thanks!