Should I Stay or Should I go?

I have been married almost 4 years and my Husband acts like a child. He is emotionally and abusive towards me. When he gets really mad it freaks me out to the point where I have dreams of him killing me. He is great with our kids but I feel in my heart that it is best to co-parent.

My kids are enrolled in school for this year so I don’t want to jeopardize anything for them being able to attend school and I don’t need a cps case. If I was to leave, can I legally take my kids with me or do they have to stay with their Dad? Or do I have to take my Husband to court first to be able to co-parent if he isn’t willing to cooperate.

I cannot deal with this much longer and I should not have to. I do not want myself nor my kids in this toxic situation!! Any advice or ideas would be helpful. Thank you!!!