Can we take legal action against my father's past abuse?

I live with my mother, as my father kicked us out of his house. He calls us daily now. My parents' marriage was a failed one, during which my mother was subjected to verbal abuse and sometimes even violence. For 25 years, we couldn't do anything because we were kids and had no means of income, and my mother had nowhere to go. So, we endured constant suffering during these years. Out of fear and helplessness, we had to lead a very miserable life. Now, I am earning, and my mother and I live together, having left that man's house.