How is it possible to deal with a stingy and domineering father who prevents his family from visiting relatives and watching religious programs, and beats the mother?

The rights of parents are great, and Allah has coupled His right with their right, and commanded kindness to them. What your father does — of authoritarianism, stinginess, beating your mother, and preventing you from maintaining ties of kinship — is forbidden in Islamic law and is blameworthy, and he must repent. We advise you to be kind to him, to be patient with him, to pray for him, to advise him gently, and to ask one of his close relatives to advise him. Your mother has the right to take from his money, within reasonable limits, what suffices her and those whose maintenance is obligatory upon her, even without his knowledge.