Behaviors get repeated when they get rewarded. If he is demanding and you keep doing what he wants...even if you gripe while you do it...he will keep demanding. Make it clear as to what you will do and what you expect him to do. Then stand up. Don't be mean, but be firm. Take control of your life. Then, when he does his part, reward him for that in whatever way makes him feel best. In a sense you have to train yourself and him to live differently than you do now.
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I so agree, for any relationship to work, it takes two to tango.