HE has chosen a married woman over me, please help me

Good evening sir, please your advice is needed. I have been married for twenty years with my husband. 

Am a mother of four and a teacher meaning am a civil servant .my hubby is also a civil servant. my problem is my husband is cheating on me with a married woman and the husband  knows everything. My husband brought this lady very close to me and my kids.she became like a member from my family.l use to move with her as my husband will always involve her in most of our outings.

Everybody around me knew this woman is going out with my husband. The worst part is that he spends all his time in this woman's beer parlour. Am tired and don't know what do do because is really a disgrace.He will even want to fight other men who are trying to go out with her.The disgrace is too much for me to endure.

The annoying part is that he will beat and abuse me Infront of the kids. Am very clean and I dress well yet he says am smelling .untill I was depress and started asking my kids if am smelling. Am tired and don't know what to do.The disgrace is too much.The intimidation is too much. 

Please advise me