I have horrible parents, but im not sure of how to escape?

basically im 19 years old i suffer from depression low self esteem and anxiety etc, i started seeing a councler a few months ago and she says that my parents are the cause for alot of my troubles, im starting to see what shes saying, to be blunt my father has beaten my mother for the last 20 odd years but aside from being a psychopathic wife beater, he never lies is incredibly hardworking, and really doesnt give a **** what people think ( which is good and bad i guess) and is also a goodlooking guy of whome i was lucky enough to inherit his looks, my mum is a thief and a lyer and has been to jail for fraud, shes stolen money off me , when i was younger she took my laptop and sold it, she told me she went to get it repaired, later when i found out the truth she said she was scared my dad was going to beat her, i knew this wasnt true because she remortgaged our house twice and was in debt for hundreds of thousends of pounds, which my dad never knew, and she has put my brothers and dad on the street twice, the second time it was a snow day to! my mum however loves my brothers and i she cooks for us and works hard, even if she does feel sorry for her self alot, this is just a small idea of how they are, one of the worst things i think my mum has told me was a few days before i started highschool she said that all my friends mothers specifically aasked for there kids not to be in the same cl as me ( i dont know if this is actually true) i mean it was so long ago, but i was crushed at the time, and i cant help but think if it was in fact true and if she did care, she would have hidden it from me, as i would have been to young to understand. ever since i was a child i would stand in between my parents and fend of my dad attacking my mum, a few months ago, my mum provoked my dad to the point where i had to pin him to the wall, i punched him, and he now has a deep permanent scar across his chin, i felt horrible at the time, but now i feel that he deserved it, my mum however believes that i should feel guilty! my question is this, do i have any reason to return to these people once i leave for uni, aside from my brothers? i mean like i said my dads a thug but hes a hardworker, i mean he just disconected the fireplace heater and put in my room because i have no insulation. lol i really have a ****** up life writing this its clearer.