If you are in the US go to the Womens Shelter in your town. They will help you. If you have no money they will help you to find a place to go. Any doctors office, mental health unit or hospital can tell you the address of the Women's Shelter. Their assistance is free. They offer free counseling and they will help you find shelter. BTW, I worked at a homeless shelter for families with children, and many women came in fleeing from abusive homes after separations and divorces. They were able to stay in the shelter, in private rooms with their children while we helped them to find jobs and get on their feet.
mentally abusive is something that involves insults or a demanding behavior that usually includes being forced to do something. Mentally abusive is something you need evidence of. You can't just expect to cry abuse and it be taken seriously. A few verbal disagreements are possibly not something that is going to be considered abuse. There are plenty of doctors that you can go see. Next time you go through what you call verbal abuse call yourself an ambulance and take a ride to the emergency room, and they can help you by telling you what options you have. You might have to wait, possibly 24hrs or maybe 48 in some er's just wait and take your kids if you have them and be honest with intake and the doctor. So what if you can't pay, it won't effect much on your credit, and you can always pay it off.
Well beings that when you asked the question if you really wanted out your question would have read How do I get out of an abusive relationship? Since closed your question with the primary options which is financial and therapy then you in a round about way answered yourself. You are staying because there may be that slim chance of things working out but the truth of the matter is thus when that's thought or stated it should not be working out but rather working at it. This is true of all marriages.
Depends where you live. Some lawyers do pro bono work. Do you specifically not want counsellors or just that you can't afford them?
I think you may not be ready to leave yet. You're talking about it, but can't see a way out. Abusive relationships are usually cyclical and there is usually a hook of some sort that keeps you in them. As most abuse victims are isolated by their spouses, you may not have anybody there to help you. If you belong to a church or other group, perhaps you could befriend someone there, maybe even the preacher or his wife, unless you are one! You've got to make the decision and push yourself to do it. You are worth it, even though you've heard the opposite for years. Visit a shelter. You'll meet women who have suffered as you have and will learn that you're not alone. That is so important to realise, truly realise that there are many women out there suffering as you have and even worse. Start packing up some clothes and leave, if you want. Remember the material things are just that, things. You can always get more things. Good luck.