How can I maintain a relationship with my dad?

Okay my dad is a total and said that if I dont want to come over to his house anymore that he is going to step out of my life and have my mom raise us all by her self. The reason I dont want to go over there is because my stepmom is a huge ***** that always tells me im ugly and useless, I'mnot confortable over there. But i still want to have some relationship with my dad because he's my dad. I just dont know what to do anymore.