I want to leave my wife and kids
Thats sad. Why would you want to leave your wife and kids?
Her attitude is just too much I can't take it anymore.
If she's being like that all the time, then go ahead and leave her.  However, you can't just leave your kids!  They didn't do anything wrong.
If she wants to be with me, then I will be with her.
While you think that might be enough, the underlying problems might exist. If you really want to stay with her than you two should talk out your issues. Getting professional help may make this process easier.