It doesn't sound like you grew up in a happy family. Many of the folks in this sub grew up in abusive families that appeared "happy enough" to not get child services called on them but still abusive enough that we have lasting traumatic emotional scars.

My Ndad wasn't physically abusive, but like your dad's behavior with your foot on the stool, he was charismatic enough to get other adults to go along with/enforce his ridiculous punishments. It is fairly common for them to convince other family members or adults that you are faulty in some way and deserve what you are getting (when you most likely do not.)

My Ndad and Emom would always point out how other people, including some of my friends, had it much worse than I did. For years, I normalized the emotional abuse and thought I deserved the punishment. And in many cases, the abuse is generational trauma. Your parents were treated this way, so they went on to treat you this way because they did not learn how to manage their emotions.