How can I get divorce, alimony, and financial support for children?

I am 44 years old, married for 20 years, with a 17-year-old son and a 9-year-old daughter. My husband refuses to work and has taken loans using my credit cards, fixed deposits, and most of my gold ornaments. He also takes cash loans. He ignores me, shows no respect or love, and mocks me or uses abusive language in front of our children when he gets angry. He has affairs and mistreats our kids, creating a violent environment every day. My children have said they don't want to live in this home as it is affecting their studies. He tells me to leave with the kids and that he will provide money for their support every month. I am suffering from depression, and now neither my children nor I want to stay in this house due to the violence. We want to start a new, peaceful life. He made me a co-borrower on loan papers and told me to go to court if I want money from him. How can I get money from him for my children and seek divorce or alimony, as we are unable to live with him anymore?