Is this considered normal? is my dad harassing me?

Ever since I was a child my dad was constantly cheating on other women, he would bring over another women, sometimes one I didn’t know and I would hear then have sex. It’s gotten bad to where he told me to stay locked in my room when they had sex. I always heard it and it made me uncomfortable but it would’ve bothered me more to tell them to stop because I was afraid of his reply.

I became uncomfortable with my dad, he would touch me a lot and I would tell him to stop, he would put his hand around my neck and I would push his hand away but he would say “What’s the problem why are you acting so weird? I’m your father I’m supposed to touch you.”
He keeps touching me, my thighs, near my rear, my neck, my hair, it all bothers me. I’ve told him to stop so many times but he doesn’t listen.
My mother and father are divorced by the way, which is why my father was cheating a lot.

My dad also makes inappropriate comments, when I was younger I use to sleep with him in his bed because I was very scared of monsters and ghosts. I use to ask to sleep with him because I would wake up from night terrors and such just.
He would comment about how I was ‘trying to show my vagina’ in those shorts. He would just laugh it off and now that I think of it.. it kind of disturbs me.

He says a lot of dirty things and I tell him to stop but he doesn’t.
I talked to my friend about this and she said that he was harassing me, but I’m not sure. I want to talk to my mother about this but I’m afraid that my mother will either not believe me or call the police on my father.
I decided to write this after I heard and saw my dad masturbathing in the loft. It was loud and I was very disgusted so I just put on my headphones to drown it out.
It’s hard to look at him now, I don’t want to speak to him. It’s just very awkward and I feel very uncomfortable.

So I wanted to ask if it was normal for my dad to do this? Or if this was considered harassment?