At what age is it legal for me to stop seeing my father?

My dad is mentally abusive. He is bipolar and refuses to take his medication. He made me go to a counselor because I told him I didn't like going to his house because of everything he has put me through. So he said something was wrong with me and put me in there. It was good but it didn't help. My mom wants me to have a relationship with my father but she knows as well as I he is mean. He will yell at my siblings and tell us we are stupid and dumb. And if we aren't ready when he comes he will start telling us he is F****** tired and he are F****** retarded. And he doesn't approve of my religion. He bashes on it all the time. He never listens to me. I will try and speak to him as a grown up and he will shut me down with "Okay then Practice what you preech" and he will get mad at me for my stepsisters misunderstanding my textmessages. I honestly can't deal with his personality changes. His High highs and low lows. Its messed up.. I'm 14 and these feelings have been there since i was 10. Am I old enough to stop going?