First, I'm sorry that you had to go through that. I know how rough it is. I was raised by VERY self-absorbed, shaming, neglectful parents.
It's always going to be somewhat of a struggle, but for me a big turning point was recognizing that my mother is incapable of giving me the love I'd been craving.
We are still in contact, but now it is very limited contact (my choice).
Are you still in contact with your parents? If you are still in regular, frequent contact, that is going to make recovery difficult.
Once you accept that your parents are broken, I think you might find it easier to let go of the anger and bitterness. At least it was for me.
Once the anger and bitterness went away, I could concentrate on affirming myself. I could stop feeling jealous of happy families and just accept that life is crazy. I missed out on some things, but I've also been very lucky in some ways. I could move to an attitude of gratitude while also giving myself self-compassion for the important things I did not receive.
Moving out of the anger and bitterness doesn't eliminate the pain altogether by any stretch of the imagination, but it is a KEY step, because it will help you move on. It will help you to attract healthy, whole people into your life. And developing new relationships with healthy people is lifesaving. But you won't be able to do it until you accept what happened to you. Easier said than done, believe me I know.
OP, it's a long road. The pain will never completely go away. Think of it a bit like a physical disability. Remind yourself that life is unpredictable and weird, no one is "owed" anything, your parents are broken (not evil), you might not fully recover but you can be a better person, you can grow.
Also, are you involved now in any additional unhealthy relationships? Friendships or romantic relationships? You'll have to keep an eye out for those, because people from unhealthy homes can very easily get trapped in a cycle of abusive relationships (or become abusers themselves).
What books have you read on this topic?