RW, that just stinks. I'm so sorry. For now, the best thing you can do is make sure the kids are all set for the night, then get yourself some rest.
As others have said, you have NOTHING to be ashamed of. And I know it's an awful feeling but the DV people can truly help you as you find your way through this. They have resources. Don't let those emotions stop you from taking that help. You need it, and that is not shameful. Don't own the shame that is rightfully his.
If he comes back tonight, please consider calling the police. I am thinking of you and everyone here will be rooting for you. Take care, okay?