When you're ready to go, just go; preferably when he is not at home, and make sure to have friends helping you in case he gets wind and comes home before you're done. (Preferably male friends; I wouldn't take the chance that he would not strike you, or any other woman present.)
There's no sense in not being too careful. I had a friend who moved out from her abusive husband with an honest-to-goodness police escort; they arrived with her when she came and got her stuff, and left with her.
Me: 44, Wife: 39 M: 17 years T: 20 years Bomb on 08/25/09 1/13/10: MC started 1/28/10, 2/8/10: More bombs 8/28/10: Wife moved out No talk of D, no movement