OP maybe attend with your husband (and your son, if it's targeted for kids too) some safety workshops on avoiding abuse or sexual violence? Your husband has his own trauma through knowing his sisters were abused, but from what little I read on 1st page of comments he won't ever go to therapy. But how about looking into trainings or workshops on keeping kids safe from sexual abuse in different settings (schools, camps, travel) and maybe in learning more abotu what to actually look for and how to help kids be aware of red flags, maybe he'll increase his willingness to let your son do things like summer day camps to start?
Also, have you tried finding a summer day camp that you really like, and taking your husband to go check it out and talk to the director? Sometimes being in an actual space and seeing it, the dynamics with kids, meeting the leaders, sometimes that can help make some of the generalized fear and anxiety step down.
Seems like both are worth a try, since he won't go to therapy.
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