Parents can be emotionally abusive and not even realize it. Most parents say slang words at their kids. That upsets a child. All of this is abuse. It don't leave any bruises, but it bruises your mind.
Parents can be violent and hit or smack a child.
That's physical abuse. If your parents are abusive in any way, tell your grandparents or an adult that you trust. Be absolutely sure you can trust this person. None of this is true. It won't stop and it's not normal.