Question for Federation of Women Lawyers - Kenya (FIDA) -Mombasa

My husband has put me in so much verbal and physical abuse for too long, I've been married over twenty years, now he works far from home. I lost interest in him and he has no interest in me as well. We have two grown kids 25 and 18 yrs now I have no desire to be called his wife again, how do I go about to get a divorce from him? Please advise.