Well being motivated to make a move is the first step.
It's too bad there are many out there who are in abusive environments, but stay there.
Whether it's abusive parents, partners, spouses, bosses, some people suffer for years.
But they don't make a move because of fear, or they get used to living like that and feel it's normal. Neither way is healthy.
Even worse is when things are not going well for people, they hate their job/family/selves. They complain about it, but do nothing about it.
Your parents probably will not change. And if you're waiting for them to change, pretty soon you will be as old as me.
The only person you can change- attitude, most importantly- is you.