How to get over an emotional verbal abuse?

Hi. I just want this out! I've read some articles about being depressed and its not gonna help if i could just keep it to myself. I am verbally abused by my parents specially my father and sometimes, they hurt me physically but ever since, I've never said a word, and i never fight with them. I just keep it. Same as my brother and my sister, i know they just keep it but deep inside, we struggle to fight them. My dad is a director from a huge company and ever since, he has been a boss both in his office and here in our family. He thinks he's always right and he wants all the glory to his name indirectly. He never listens to my explanation because if i dare to spill out what i want, I will be in a big trouble. I don't know to how to get over this emotional pain anymore... Please help.