I really need some guidance. Please help?

Don't go back to an abusive husband, or you will surely have another 26 years of unhappiness. I am sorry that your kids have fallen for his"poor dad" routine. Not much you can do there. Hopefully, in time they will see the truth of that matter. in the maentime, I would recommend going to a good therapist to work through your issues. You state that you don't know why you stayed with him for so long. The answer is within you if you clear your mind and ask yourself that question. Therapy will help. Take care and congratulations for standing up for yourself and living life on your terms. That is huge!