Relating to family after an abusive childhood

When your family has been abusive physically, mentally, and emotionally in your youth. Do you forgive and still allow them in your life? Do you keep them at a distance and feel guilty? I have struggled with this and meditated for years. Right now I let them in only a little cause I have my kids to think of. I just don’t know what the right thing is to do. I feel I need direction with resolving this completely and be at 100% percent in my own life. My past has affected my work and my ability to trust. I need good advice Deepak. I would just like to move forward completely. But how?