Should I stay away from my dad I have always felt intimidated by me?

He looked at me when I scratched myself on my stomach and then really fast excused himself to be like he was in a hurry then right after I heard himself masturbating in his room. I always felt intimidated by him from the time I was little but could not pin point why I think he might have sexually abused me does it sound like I was abused and is this normal. He just looked at me hard like guys do when they are undressing you with there eyes he did that quick then excused himself to be and then heard him masturbating.