Family counseling.

Has anyone ever done family counseling before? I want to go with my kids but unsure of what is involved? How it’s done etc? My kids have anxiety and behaviour issues and I’m just a mum who is blaming myself for it all! The fighting with their father, the getting mad at them then beating myself up about it, then over compensating for it. I have failed as a parent miserably. I hate myself so much. I’m the parent I never wanted to be. I’m just a constant ball of stress. I never stop thinking about the way I’ve bought my kids up and if they will suffer as adults because of it. I hate me.