The right course of action for such a marriage

I have been married for over 4 years now and have a 3 year old son. Mine was an arranged marriage, and soon after the marriage I started realising that my husband had lied to me and hidden a lot of things about himself. He was having an extra-marital affair (which stopped only after the birth of our son), his salary was not what he had told my family, he has had two eye-surgeries and has a vision problem. I realised this when he banged my father's car while driving twice in a month. On top of that he is very disrespectful and foul-mouthed. This marriage had made me extremely bitter and unhappy. Even though my parents say that they would support me if I ever decide to leave him, I know they will not be able to. They like their Son-in-Law very much (he is a shrewd person) and depend on him for a lot of responsibility as we are two sisters. He is like a son to them and they don't like me complaining about him. Also, my son is close to his father, and that has increased more as my husband has been working from home the entire lockdown period, whereas my office opened up since June 2020 and I had to be physically be present for at least thrice a week. Financially, he only pays the house rent and buys groceries whenever I insist. He never took care of me during my pregnancy financially, nor does he pay for the child's school fees, his well-being, forget about mine. For him, I am a money-making machine; my money is his money, but his money is only his. He has refused to have a joint account, have savings planned for our child or our future in general. In addition, he forced me to abort my second pregnancy, and even though I want another child; he mentally harasses me, calls me names and refuses to have another baby. I have been meeting psychiatrists for some time as I have become depressed. We even went for couple counselling and we were both asked to take depression medications. He took it only for a day and even though I was supposed to stop the medication in three months time, he forces me to take them everyday (its been 10 months now). We never went back for the second session as he refuses and has told everyone, including my parents that I am a psycho. He still hasn't shared with me his exact salary figure, but I presume, I earn more than him and that causes a lot of problem as well. I have been thinking about this a lot now. I want to get out of this marriage. Even though, I may not get the support of my family, this constant fight, bickering and volatile house environment will ruin my child's future. I don't want him to get traumatised for life. Please guide me how to proceed for seperation, and on what context as he will not give me a divorce ever.