@lisa g,
Unfortunately this is a difficult question to answer in short form. The 'easiest' way is to go and see a counsellor together. If he says 'we aren't that bad' (because I doubt he will want to see a counsellor)...from what you describe it 'is' that bad, even if some part of you is currently excusing that behaviour (so you will have to contradict him, and insist - for the sake of the survival of your marriage, and your self esteem)
The long term solution is to know what you want from a relationship, recognise when it's not happening, and learn respectful and deep rooted assertiveness...but that can be a very difficult thing to achieve.