I've never gotten along well with my family. In fact, I recently moved out. My father was never abuse, nor was my mother... I was sexually abused by my step father at the age of 11, and when I did let my mother know what he had done, I was told I was a liar and had no idea what I was talking about. My step father became very controlling and according to my mother, he seemed never to be wrong. I am a 16 year old girl from Australia and I moved out of my parents' houses to get away from all the accusations of me lying, being anti-social and just plain disrespect, to live with my boyfriend (whom they also dislike with a passion).
My advice to you is, I've found that most parents try to do the best that they can to bring you up accordingly, but not all of them know how to or some just simply try too hard. I am not going to defend your father, because I would NEVER condone that kind of behave from anyone, whether it be from a friend, a family member or a complete stranger. Your father is doing the wrong thing. He may not realise it just yet, but one day he will and he'll regret it. If he hurts you or threatens to do so, DO NOT hesitate to report him.
Stay safe, and I wish you the best of luck! xo