Abusive parents

Did anyone have an abusive mother who physically, mentally and emotionally abused you, your whole life and never understands how much damage she had been doing to you. Where now in your 20s it still continues she still does all the things she used to do to you as a kid. And Now it is really hard to accept it because more than physical pain its very disrespectful, and more of an emotional torture. In between all of this when you look at your dad who is generally sweet, doesn't take any stand for you he's mostly just silent and lets your mother ruin your life. More than the physical pain caused by my mom, my dad's silence breaks my heart into pieces like the person who should be protecting me he's just sitting and staying silent while I'm visibly in pain.