I need help

I don't know what to do please someone help. I stopped seeing my dad two years ago. This is because we were sat down watching tv and he had his hand on my sisters butt. He was rubbing it and I heard my sister say 'no' and remove it but he put it back there. She said no again, removed it and he put it back. I text my mum this because I felt disgusted. She then picked me and my sister up later and the police came round to my mums to question us on what happened because my mum was worried. We went back to my dads anyway for the rest of the week in the summer, and that's the last time I saw him. Now, I feel like me my sister and my dad never had a real relationship. We'd see him every other weekend. My dad has always been a jerk. He emotionally abused my mum (they divorced when I was 4), cheated on her with her own sister and gets angry very easily. For example, if I spilt some water he would shout at me. He teases everyone but so harshly (including me and my sister). When me and my sister would hang out with him, he'd always rush everything, for example if we went shopping. He'd tell us we can get stuff but then he'd complain and make us feel awful when we spent 'too much' even though he'd never give us a budget. From what I've experienced with him, he'd view me sexually. I just got a weird uncomfortable vibe. For example when I got in the car with him he'd rub my thighs but I didn't like it. I felt like he perved on us, looking at our bodies. I always felt uncomfortable. I'd try make myself unattractive, putting on a low voice and dressing really modestly. Maybe I was being over dramatic and he was just innocent. One time, he asked for a hug and squeezed my butt. Another time, he was joking around and pulled his pants down and put his butt right by my face. Maybe it was innocent I don't know. Basically I'm going to put up some screenshots of what my stepmom has messaged me (she's been with my dad for 8 years). It's made me feel guilty but I don't even feel like I miss him. He's currently putting my mum through court, where she might be jailed for my sister not wanting to see him. The court think that my mums stopping us from seeing him and that could cause loads of legal trouble for her. 14 year olds have to see their dad. But I told my sister 'I was thinking of seeing him again'. And she told me 'please can we not lauryn, I beg of you, I don't want to' and she's said this so many times before. Please look at the screenshots I'm about to post and tell me what I should do. If we see him, my mum will be punished, and me and my sister both don't want to and we don't miss him.