My dad threatened me and kicked me out of my own house, what can I do to protect myself?

I asked my dad to move to Houston so he could be closer to his only child, me. After he and his wife moved here I realized he was not financially able to meet his monthly expenses. He had not saved for their retirement and only getting $1300 in SS for both of them. We were purchasing a new home to be closer to my grandchildren and asked him and his wife if they would like to move in with us. The agreement was he give me 40K from the sale of his home and he could live with us the rest of his life. We also agreed that if he passed before his wife we would take care of her. From the first day we moved into the house we knew we had made a mistake. After almost two years of him hitting his wife, yelling and cussing daily we were very sorry we had invited them. Then he decided he was going to kill me and told his wife and my husband that he had nothing to loose. My husband and I fled my home and have been making the house payment for 3 years so he could stay there. His wife has passed away and he is living in my home by himself. Ever since we left we have been keeping up the yard and having people work around the house to keep it up. He calls the police on the workers and my husband and now he wont let us keep up the pool because he doesn't want to pay the electric to run the pool. I put him on the deed of the house to make him more comfortable, however he is not on our loan. He has changed the locks recently. When we fled we did not take most of our things, and they are still at my house. He decided he could sell my stuff and tried to get a second hand shop take my things. We were able to stop that. I just don't know what to do with the situation.