Welcome tsp95,
I'm sorry to hear that your dad is abusive.

Words can hurt a lot, and we can carry them around with us for a long time after they were said.
When you write that you want to know "how to pick up girls", what goal do you have in mind? Do you want to start a romantic relationship with a woman? Or are you after a purely sexual relationship?
You may find that working on your self-esteem is about the most useful thing you can do. Once you truly believe that you are worth knowing and spending time with, you will project a more positive and inviting image. This will make it easier for a woman to see you as a potential partner.
No diagnosis, lots of opinions, and a bunch of issues that I haven't quite figured out.