Sounds like you did the right thing at leaving! I understand that parents want their children to follow in their footsteps, but that's one extreme I don't think I could follow. How old was your sister when you two left? 16 is very young to take care of yourself and someone else. I'm impressed.
Has he been actively looking for you two since then? Does he just hope if he finds you and drags you back you'll just become an heir again?
I won't push for details as I'm sure I don't want to know. But it sounds like your case isn't black and white.